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mavlink receiver remove unnecessary attitude setpoint class member

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This commit is contained in:
Daniel Agar
2018-01-09 01:01:53 -05:00
parent cf2d794da9
commit fe22b856d6
2 changed files with 9 additions and 11 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+9 -10
View File
@@ -147,7 +147,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_hil_local_alt0(0.0f), _hil_local_alt0(0.0f),
_hil_local_proj_ref{}, _hil_local_proj_ref{},
_offboard_control_mode{}, _offboard_control_mode{},
_att_sp{},
_rates_sp{}, _rates_sp{},
_time_offset_avg_alpha(0.8), _time_offset_avg_alpha(0.8),
_time_offset(0), _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 */ /* Publish attitude setpoint if attitude and thrust ignore bits are not set */
if (!(_offboard_control_mode.ignore_attitude)) { 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 if (!ignore_attitude_msg) { // only copy att sp if message contained new data
mavlink_quaternion_to_euler(set_attitude_target.q, mavlink_quaternion_to_euler(set_attitude_target.q, &att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body);
&_att_sp.roll_body, &_att_sp.pitch_body, &_att_sp.yaw_body); att_sp.yaw_sp_move_rate = 0.0;
_att_sp.yaw_sp_move_rate = 0.0; memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d));
memcpy(_att_sp.q_d, set_attitude_target.q, sizeof(_att_sp.q_d)); att_sp.q_d_valid = true;
_att_sp.q_d_valid = true;
} }
if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid 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) { 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 { } 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);
} }
} }
src/modules/mavlink/mavlink_receiver.h
-1
View File
@@ -256,7 +256,6 @@ private:
float _hil_local_alt0; float _hil_local_alt0;
struct map_projection_reference_s _hil_local_proj_ref; struct map_projection_reference_s _hil_local_proj_ref;
struct offboard_control_mode_s _offboard_control_mode; struct offboard_control_mode_s _offboard_control_mode;
struct vehicle_attitude_setpoint_s _att_sp;
struct vehicle_rates_setpoint_s _rates_sp; struct vehicle_rates_setpoint_s _rates_sp;
double _time_offset_avg_alpha; double _time_offset_avg_alpha;
int64_t _time_offset; int64_t _time_offset;