From fe22b856d66cd8d5debbcc8926b7bffb371249f2 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 9 Jan 2018 00:36:09 -0500 Subject: [PATCH] mavlink receiver remove unnecessary attitude setpoint class member --- src/modules/mavlink/mavlink_receiver.cpp | 19 +++++++++---------- src/modules/mavlink/mavlink_receiver.h | 1 - 2 files changed, 9 insertions(+), 11 deletions(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 1d3b2dd3a2..6a4b32db96 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -147,7 +147,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _hil_local_alt0(0.0f), _hil_local_proj_ref{}, _offboard_control_mode{}, - _att_sp{}, _rates_sp{}, _time_offset_avg_alpha(0.8), _time_offset(0), @@ -1252,25 +1251,25 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg) /* Publish attitude setpoint if attitude and thrust ignore bits are not set */ if (!(_offboard_control_mode.ignore_attitude)) { - _att_sp.timestamp = hrt_absolute_time(); + vehicle_attitude_setpoint_s att_sp = {}; + att_sp.timestamp = hrt_absolute_time(); if (!ignore_attitude_msg) { // only copy att sp if message contained new data - mavlink_quaternion_to_euler(set_attitude_target.q, - &_att_sp.roll_body, &_att_sp.pitch_body, &_att_sp.yaw_body); - _att_sp.yaw_sp_move_rate = 0.0; - memcpy(_att_sp.q_d, set_attitude_target.q, sizeof(_att_sp.q_d)); - _att_sp.q_d_valid = true; + mavlink_quaternion_to_euler(set_attitude_target.q, &att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body); + att_sp.yaw_sp_move_rate = 0.0; + memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d)); + att_sp.q_d_valid = true; } if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid - _att_sp.thrust = set_attitude_target.thrust; + att_sp.thrust = set_attitude_target.thrust; } if (_att_sp_pub == nullptr) { - _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp); + _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); } else { - orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp); + orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &att_sp); } } diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 2b8ff289b5..57c3d65f16 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -256,7 +256,6 @@ private: float _hil_local_alt0; struct map_projection_reference_s _hil_local_proj_ref; struct offboard_control_mode_s _offboard_control_mode; - struct vehicle_attitude_setpoint_s _att_sp; struct vehicle_rates_setpoint_s _rates_sp; double _time_offset_avg_alpha; int64_t _time_offset;