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uuv_pos_control: remove practically unused manual control subscription

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This commit is contained in:
Matthias Grob
2022-06-24 10:05:16 -05:00
committed by Daniel Agar
parent 3a239ff649
commit cfd4e64b02
2 changed files with 0 additions and 13 deletions
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src/modules/uuv_pos_control/uuv_pos_control.cpp
-10
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@@ -195,16 +195,6 @@ void UUVPOSControl::Run()
} }
} }
/* Manual Control mode (e.g. gamepad,...) - raw feedthrough no assistance */
if (_manual_control_setpoint_sub.update(&_manual_control_setpoint)) {
// This should be copied even if not in manual mode. Otherwise, the poll(...) call will keep
// returning immediately and this loop will eat up resources.
if (_vcontrol_mode.flag_control_manual_enabled && !_vcontrol_mode.flag_control_rates_enabled) {
/* manual/direct control */
}
}
/* Only publish if any of the proper modes are enabled */ /* Only publish if any of the proper modes are enabled */
if (_vcontrol_mode.flag_control_manual_enabled || if (_vcontrol_mode.flag_control_manual_enabled ||
_vcontrol_mode.flag_control_attitude_enabled) { _vcontrol_mode.flag_control_attitude_enabled) {
src/modules/uuv_pos_control/uuv_pos_control.hpp
-3
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@@ -60,7 +60,6 @@
#include <uORB/Subscription.hpp> #include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp> #include <uORB/SubscriptionCallback.hpp>
#include <uORB/Publication.hpp> #include <uORB/Publication.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h> #include <uORB/topics/parameter_update.h>
#include <uORB/topics/trajectory_setpoint.h> #include <uORB/topics/trajectory_setpoint.h>
#include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_attitude.h>
@@ -104,14 +103,12 @@ private:
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; /**< current vehicle attitude */ uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; /**< current vehicle attitude */
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; /**< notification of manual control updates */
uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)}; uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle status subscription */ uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle status subscription */
uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)}; uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};
//actuator_controls_s _actuators {}; /**< actuator control inputs */ //actuator_controls_s _actuators {}; /**< actuator control inputs */
manual_control_setpoint_s _manual_control_setpoint {}; /**< r/c channel data */
vehicle_attitude_s _vehicle_attitude {}; /**< vehicle attitude */ vehicle_attitude_s _vehicle_attitude {}; /**< vehicle attitude */
trajectory_setpoint_s _trajectory_setpoint{}; /**< vehicle position setpoint */ trajectory_setpoint_s _trajectory_setpoint{}; /**< vehicle position setpoint */
vehicle_control_mode_s _vcontrol_mode {}; /**< vehicle control mode */ vehicle_control_mode_s _vcontrol_mode {}; /**< vehicle control mode */