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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-17 15:10:04 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-17 15:10:04 +0200 |
commit | d4e6a9d7a1e448a5cc55436c0bb5f951694bc46e (patch) | |
tree | a2d312dc68d578e3283463b91b4092da6abce32e /apps/mavlink/orb_listener.c | |
parent | 8b000b331704b2d37a8c47ae1bc480b784965db4 (diff) | |
download | px4-firmware-d4e6a9d7a1e448a5cc55436c0bb5f951694bc46e.tar.gz px4-firmware-d4e6a9d7a1e448a5cc55436c0bb5f951694bc46e.tar.bz2 px4-firmware-d4e6a9d7a1e448a5cc55436c0bb5f951694bc46e.zip |
Minor code style fixes, removed dead code
Diffstat (limited to 'apps/mavlink/orb_listener.c')
-rw-r--r-- | apps/mavlink/orb_listener.c | 17 |
1 files changed, 4 insertions, 13 deletions
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 39358922d..63a39e4ee 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -141,12 +141,6 @@ l_sensor_combined(struct listener *l) last_sensor_timestamp = raw.timestamp; - /* send raw imu data */ - // mavlink_msg_raw_imu_send(MAVLINK_COMM_0, last_sensor_timestamp, raw.accelerometer_raw[0], - // raw.accelerometer_raw[1], raw.accelerometer_raw[2], raw.gyro_raw[0], - // raw.gyro_raw[1], raw.gyro_raw[2], raw.magnetometer_raw[0], - // raw.magnetometer_raw[1], raw.magnetometer_raw[2]); - /* mark individual fields as changed */ uint16_t fields_updated = 0; static unsigned accel_counter = 0; @@ -161,19 +155,19 @@ l_sensor_combined(struct listener *l) } if (gyro_counter != raw.gyro_counter) { - /* mark first three dimensions as changed */ + /* mark second group dimensions as changed */ fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); gyro_counter = raw.gyro_counter; } if (mag_counter != raw.magnetometer_counter) { - /* mark first three dimensions as changed */ + /* mark third group dimensions as changed */ fields_updated |= (1 << 6) | (1 << 7) | (1 << 8); mag_counter = raw.magnetometer_counter; } if (baro_counter != raw.baro_counter) { - /* mark first three dimensions as changed */ + /* mark last group dimensions as changed */ fields_updated |= (1 << 9) | (1 << 11) | (1 << 12); baro_counter = raw.baro_counter; } @@ -187,8 +181,6 @@ l_sensor_combined(struct listener *l) raw.baro_pres_mbar, 0 /* no diff pressure yet */, raw.baro_alt_meter, raw.baro_temp_celcius, fields_updated); - /* send pressure */ - //mavlink_msg_scaled_pressure_send(MAVLINK_COMM_0, raw.timestamp / 1000, raw.baro_pres_mbar, raw.baro_alt_meter, raw.baro_temp_celcius * 100); sensors_raw_counter++; } @@ -631,8 +623,7 @@ uorb_receive_start(void) pthread_attr_init(&uorb_attr); /* Set stack size, needs more than 8000 bytes */ - /* XXX verify, should not need anything like this much unless MAVLink really sucks */ - pthread_attr_setstacksize(&uorb_attr, 8192); + pthread_attr_setstacksize(&uorb_attr, 4096); pthread_t thread; pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL); |