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| author | marco <marco@marcos-mbp.bauer.loc> | 2013-11-19 17:35:04 +0100 |
|---|---|---|
| committer | marco <marco@marcos-mbp.bauer.loc> | 2013-11-19 17:35:04 +0100 |
| commit | f82a202667c8b4e38d229e6fcac70ca40380aea2 (patch) | |
| tree | 40ef1092aa3e18c44fa74d0d1c3e9a81a74614c0 /src/drivers | |
| parent | 21cc19cef6a6ad9d88ac20cf2223635fe8ec4388 (diff) | |
| download | px4-firmware-f82a202667c8b4e38d229e6fcac70ca40380aea2.tar.gz px4-firmware-f82a202667c8b4e38d229e6fcac70ca40380aea2.tar.bz2 px4-firmware-f82a202667c8b4e38d229e6fcac70ca40380aea2.zip | |
actuator effective removed - unused
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/mkblctrl/mkblctrl.cpp | 16 |
1 files changed, 1 insertions, 15 deletions
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index 4e26d9c50..9442ae906 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -75,7 +75,6 @@ #include <drivers/drv_mixer.h> #include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_controls_effective.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_armed.h> #include <uORB/topics/esc_status.h> @@ -146,7 +145,6 @@ private: char _device[20]; ///< device orb_advert_t _t_outputs; - orb_advert_t _t_actuators_effective; orb_advert_t _t_esc_status; unsigned int _num_outputs; @@ -255,7 +253,6 @@ MK::MK(int bus, const char *_device_path) : _t_actuators(-1), _t_actuator_armed(-1), _t_outputs(0), - _t_actuators_effective(0), _t_esc_status(0), _num_outputs(0), _motortest(false), @@ -534,13 +531,6 @@ MK::task_main() _t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), &outputs); - /* advertise the effective control inputs */ - actuator_controls_effective_s controls_effective; - memset(&controls_effective, 0, sizeof(controls_effective)); - /* advertise the effective control inputs */ - _t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), - &controls_effective); - /* advertise the blctrl status */ esc_status_s esc; memset(&esc, 0, sizeof(esc)); @@ -604,9 +594,6 @@ MK::task_main() outputs.noutputs = _mixers->mix(&outputs.output[0], _num_outputs); outputs.timestamp = hrt_absolute_time(); - // XXX output actual limited values - memcpy(&controls_effective, &_controls, sizeof(controls_effective)); - /* iterate actuators */ for (unsigned int i = 0; i < _num_outputs; i++) { @@ -712,9 +699,8 @@ MK::task_main() } - //::close(_t_esc_status); + ::close(_t_esc_status); ::close(_t_actuators); - ::close(_t_actuators_effective); ::close(_t_actuator_armed); |