WIP remove unnecessary functions

4 files changed, 3 insertions, 123 deletions

diff --git a/src/modules/mc_att_control/mc_att_control.cpp b/src/modules/mc_att_control/mc_att_control.cpp
index 31cdd99e4..002812741 100644
--- a/src/modules/mc_att_control/mc_att_control.cpp
+++ b/src/modules/mc_att_control/mc_att_control.cpp
@@ -211,84 +211,6 @@ MulticopterAttitudeControl::parameters_update()
 	return OK;
 }
 
-void
-MulticopterAttitudeControl::parameter_update_poll()
-{
-	bool updated;
-
-	/* Check HIL state if vehicle status has changed */
-	orb_check(_params_sub, &updated);
-
-	if (updated) {
-		struct parameter_update_s param_update;
-		orb_copy(ORB_ID(parameter_update), _params_sub, &param_update);
-		parameters_update();
-	}
-}
-
-void
-MulticopterAttitudeControl::vehicle_control_mode_poll()
-{
-	bool updated;
-
-	/* Check HIL state if vehicle status has changed */
-	orb_check(_v_control_mode_sub, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(vehicle_control_mode), _v_control_mode_sub, &_v_control_mode);
-	}
-}
-
-void
-MulticopterAttitudeControl::vehicle_manual_poll()
-{
-	bool updated;
-
-	/* get pilots inputs */
-	orb_check(_manual_control_sp_sub, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp);
-	}
-}
-
-void
-MulticopterAttitudeControl::vehicle_attitude_setpoint_poll()
-{
-	/* check if there is a new setpoint */
-	bool updated;
-	orb_check(_v_att_sp_sub, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(vehicle_attitude_setpoint), _v_att_sp_sub, &_v_att_sp);
-	}
-}
-
-void
-MulticopterAttitudeControl::vehicle_rates_setpoint_poll()
-{
-	/* check if there is a new setpoint */
-	bool updated;
-	orb_check(_v_rates_sp_sub, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_sub, &_v_rates_sp);
-	}
-}
-
-void
-MulticopterAttitudeControl::arming_status_poll()
-{
-	/* check if there is a new setpoint */
-	bool updated;
-	orb_check(_armed_sub, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
-	}
-}
-
-
 void  MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg) {
 
 	perf_begin(_loop_perf);
@@ -306,15 +228,6 @@ void  MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi
 		dt = 0.02f;
 	}
 
-	/* copy attitude topic */
-	orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att);
-
-	/* check for updates in other topics */
-	parameter_update_poll();
-	vehicle_control_mode_poll();
-	arming_status_poll();
-	vehicle_manual_poll();
-
 	if (_v_control_mode.flag_control_attitude_enabled) {
 		control_attitude(dt);
 
@@ -373,7 +286,7 @@ void  MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi
 
 		} else {
 			/* attitude controller disabled, poll rates setpoint topic */
-			vehicle_rates_setpoint_poll();
+			//XXX vehicle_rates_setpoint_poll();
 			_rates_sp(0) = _v_rates_sp.roll;
 			_rates_sp(1) = _v_rates_sp.pitch;
 			_rates_sp(2) = _v_rates_sp.yaw;
diff --git a/src/modules/mc_att_control/mc_att_control.h b/src/modules/mc_att_control/mc_att_control.h
index 48df88771..b2ec3083f 100644
--- a/src/modules/mc_att_control/mc_att_control.h
+++ b/src/modules/mc_att_control/mc_att_control.h
@@ -139,36 +139,5 @@ private:
 	 * Update our local parameter cache.
 	 */
 	int			parameters_update();
-
-	/**
-	 * Check for parameter update and handle it.
-	 */
-	void		parameter_update_poll();
-
-	/**
-	 * Check for changes in vehicle control mode.
-	 */
-	void		vehicle_control_mode_poll();
-
-	/**
-	 * Check for changes in manual inputs.
-	 */
-	void		vehicle_manual_poll();
-
-	/**
-	 * Check for attitude setpoint updates.
-	 */
-	void		vehicle_attitude_setpoint_poll();
-
-	/**
-	 * Check for rates setpoint updates.
-	 */
-	void		vehicle_rates_setpoint_poll();
-
-	/**
-	 * Check for arming status updates.
-	 */
-	void		arming_status_poll();
-
 };
 
diff --git a/src/modules/mc_att_control/mc_att_control_base.cpp b/src/modules/mc_att_control/mc_att_control_base.cpp
index d0ab1bfbf..0a05be924 100644
--- a/src/modules/mc_att_control/mc_att_control_base.cpp
+++ b/src/modules/mc_att_control/mc_att_control_base.cpp
@@ -101,7 +101,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
 		if (_v_control_mode.flag_control_velocity_enabled
 		    || _v_control_mode.flag_control_climb_rate_enabled) {
 			/* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */
-			vehicle_attitude_setpoint_poll();
+			//XXX vehicle_attitude_setpoint_poll();
 		}
 
 		if (!_v_control_mode.flag_control_climb_rate_enabled) {
@@ -160,7 +160,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
 
 	} else {
 		/* in non-manual mode use 'vehicle_attitude_setpoint' topic */
-		vehicle_attitude_setpoint_poll();
+		//XXX vehicle_attitude_setpoint_poll();
 
 		/* reset yaw setpoint after non-manual control mode */
 		_reset_yaw_sp = true;
diff --git a/src/modules/mc_att_control/mc_att_control_base.h b/src/modules/mc_att_control/mc_att_control_base.h
index 54a445e0d..0783bb71e 100644
--- a/src/modules/mc_att_control/mc_att_control_base.h
+++ b/src/modules/mc_att_control/mc_att_control_base.h
@@ -120,8 +120,6 @@ protected:
 
 	bool _publish_att_sp;
 
-	virtual void vehicle_attitude_setpoint_poll() = 0;
-
 };
 
 #endif /* MC_ATT_CONTROL_BASE_H_ */