From ee58f0d11dd96624a2c3d4ffedda9eb1a1754a71 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 15 Jul 2016 23:59:52 +0200
Subject: [PATCH] encoders.msg: remove this topic, it's never published (#5074)

---
 msg/CMakeLists.txt                |  1 -
 msg/encoders.msg                  |  4 ----
 src/modules/sdlog2/sdlog2.c       | 14 --------------
 src/modules/uORB/Publication.cpp  |  2 --
 src/modules/uORB/Subscription.cpp |  2 --
 5 files changed, 23 deletions(-)
 delete mode 100644 msg/encoders.msg

diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 5a94a5ba54..278874c089 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -49,7 +49,6 @@ set(msg_file_names
 	distance_sensor.msg
 	ekf2_innovations.msg
 	ekf2_replay.msg
-	encoders.msg
 	esc_report.msg
 	esc_status.msg
 	estimator_status.msg
diff --git a/msg/encoders.msg b/msg/encoders.msg
deleted file mode 100644
index ef863a9cba..0000000000
--- a/msg/encoders.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-uint8 NUM_ENCODERS = 4
-
-int64[4] counts			# counts of encoder
-float32[4] velocity		# counts of encoder/ second
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 7310db1341..f1fc820d81 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -102,7 +102,6 @@
 #include <uORB/topics/system_power.h>
 #include <uORB/topics/servorail_status.h>
 #include <uORB/topics/wind_estimate.h>
-#include <uORB/topics/encoders.h>
 #include <uORB/topics/vtol_vehicle_status.h>
 #include <uORB/topics/time_offset.h>
 #include <uORB/topics/mc_att_ctrl_status.h>
@@ -1196,7 +1195,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct servorail_status_s servorail_status;
 		struct satellite_info_s sat_info;
 		struct wind_estimate_s wind_estimate;
-		struct encoders_s encoders;
 		struct vtol_vehicle_status_s vtol_status;
 		struct time_offset_s time_offset;
 		struct mc_att_ctrl_status_s mc_att_ctrl_status;
@@ -1308,7 +1306,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int system_power_sub;
 		int servorail_status_sub;
 		int wind_sub;
-		int encoders_sub;
 		int tsync_sub;
 		int mc_att_ctrl_status_sub;
 		int ctrl_state_sub;
@@ -1354,7 +1351,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 	subs.tsync_sub = -1;
 	subs.mc_att_ctrl_status_sub = -1;
 	subs.ctrl_state_sub = -1;
-	subs.encoders_sub = -1;
 	subs.innov_sub = -1;
 	subs.cam_trig_sub = -1;
 	subs.replay_sub = -1;
@@ -2215,16 +2211,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 				LOGBUFFER_WRITE_AND_COUNT(WIND);
 			}
 
-			/* --- ENCODERS --- */
-			if (copy_if_updated(ORB_ID(encoders), &subs.encoders_sub, &buf.encoders)) {
-				log_msg.msg_type = LOG_ENCD_MSG;
-				log_msg.body.log_ENCD.cnt0 = buf.encoders.counts[0];
-				log_msg.body.log_ENCD.vel0 = buf.encoders.velocity[0];
-				log_msg.body.log_ENCD.cnt1 = buf.encoders.counts[1];
-				log_msg.body.log_ENCD.vel1 = buf.encoders.velocity[1];
-				LOGBUFFER_WRITE_AND_COUNT(ENCD);
-			}
-
 			/* --- TIMESYNC OFFSET --- */
 			if (copy_if_updated(ORB_ID(time_offset), &subs.tsync_sub, &buf.time_offset)) {
 				log_msg.msg_type = LOG_TSYN_MSG;
diff --git a/src/modules/uORB/Publication.cpp b/src/modules/uORB/Publication.cpp
index 9990d8d543..3282f5c749 100644
--- a/src/modules/uORB/Publication.cpp
+++ b/src/modules/uORB/Publication.cpp
@@ -47,7 +47,6 @@
 #include "topics/vehicle_rates_setpoint.h"
 #include "topics/actuator_outputs.h"
 #include "topics/actuator_direct.h"
-#include "topics/encoders.h"
 #include "topics/tecs_status.h"
 #include "topics/rc_channels.h"
 #include "topics/filtered_bottom_flow.h"
@@ -118,7 +117,6 @@ template class __EXPORT Publication<vehicle_attitude_setpoint_s>;
 template class __EXPORT Publication<vehicle_rates_setpoint_s>;
 template class __EXPORT Publication<actuator_outputs_s>;
 template class __EXPORT Publication<actuator_direct_s>;
-template class __EXPORT Publication<encoders_s>;
 template class __EXPORT Publication<tecs_status_s>;
 template class __EXPORT Publication<rc_channels_s>;
 template class __EXPORT Publication<filtered_bottom_flow_s>;
diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp
index 7ddf234848..b01efef7f1 100644
--- a/src/modules/uORB/Subscription.cpp
+++ b/src/modules/uORB/Subscription.cpp
@@ -45,7 +45,6 @@
 #include "topics/hil_sensor.h"
 #include "topics/vehicle_attitude.h"
 #include "topics/vehicle_global_position.h"
-#include "topics/encoders.h"
 #include "topics/position_setpoint_triplet.h"
 #include "topics/vehicle_status.h"
 #include "topics/manual_control_setpoint.h"
@@ -162,7 +161,6 @@ template class __EXPORT Subscription<sensor_combined_s>;
 template class __EXPORT Subscription<hil_sensor_s>;
 template class __EXPORT Subscription<vehicle_attitude_s>;
 template class __EXPORT Subscription<vehicle_global_position_s>;
-template class __EXPORT Subscription<encoders_s>;
 template class __EXPORT Subscription<position_setpoint_triplet_s>;
 template class __EXPORT Subscription<vehicle_status_s>;
 template class __EXPORT Subscription<manual_control_setpoint_s>;