sdlog2: Removed vehicle_land_detected topic from logging

2 files changed, 1 insertions, 18 deletions

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index b470eefac..7b7949239 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -72,7 +72,6 @@
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/vehicle_command.h>
-#include <uORB/topics/vehicle_land_detected.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -982,7 +981,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct vehicle_local_position_s local_pos;
 		struct vehicle_local_position_setpoint_s local_pos_sp;
 		struct vehicle_global_position_s global_pos;
-		struct vehicle_land_detected_s land_detector;
 		struct position_setpoint_triplet_s triplet;
 		struct vehicle_vicon_position_s vicon_pos;
 		struct vision_position_estimate vision_pos;
@@ -1018,7 +1016,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_SENS_s log_SENS;
 			struct log_LPOS_s log_LPOS;
 			struct log_LPSP_s log_LPSP;
-			struct log_LAND_s log_LAND;
 			struct log_GPS_s log_GPS;
 			struct log_ATTC_s log_ATTC;
 			struct log_STAT_s log_STAT;
@@ -1085,7 +1082,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int servorail_status_sub;
 		int wind_sub;
 		int encoders_sub;
-		int land_detector_sub;
 	} subs;
 
 	subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
@@ -1116,7 +1112,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 	subs.system_power_sub = orb_subscribe(ORB_ID(system_power));
 	subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status));
 	subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate));
-	subs.land_detector_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
 	
 	/* we need to rate-limit wind, as we do not need the full update rate */
 	orb_set_interval(subs.wind_sub, 90);
@@ -1526,11 +1521,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 			LOGBUFFER_WRITE_AND_COUNT(LPOS);
 		}
 
-		/* --- LAND DETECTED --- */
-		if (copy_if_updated(ORB_ID(vehicle_land_detected), subs.land_detector_sub, &buf.land_detector)) {
-			log_msg.body.log_LAND.landed = buf.land_detector.landed;
-		}
-
 		/* --- LOCAL POSITION SETPOINT --- */
 		if (copy_if_updated(ORB_ID(vehicle_local_position_setpoint), subs.local_pos_sp_sub, &buf.local_pos_sp)) {
 			log_msg.msg_type = LOG_LPSP_MSG;
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 246f5129f..99f70a948 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -113,7 +113,6 @@ struct log_LPOS_s {
 	int32_t ref_lon;
 	float ref_alt;
 	uint8_t pos_flags;
-	uint8_t landed;
 	uint8_t ground_dist_flags;
 	float eph;
 	float epv;
@@ -427,11 +426,6 @@ struct log_ENCD_s {
 /* --- AIR SPEED SENSORS - DIFF. PRESSURE --- */
 #define LOG_AIR1_MSG 40
 
-/* --- LAND - LAND DETECTOR --- */
-#define LOG_LAND_MSG 41
-struct log_LAND_s {
-	uint8_t landed;
-};
 
 /********** SYSTEM MESSAGES, ID > 0x80 **********/
 
@@ -468,7 +462,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT_S(IMU2, IMU, "fffffffff",		"AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
 	LOG_FORMAT_S(SENS, SENS, "fffff",		"BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
 	LOG_FORMAT_S(AIR1, SENS, "fffff",	"BaroPa,BaroAlt,BaroTmp,DiffPres,DiffPresF"),
-	LOG_FORMAT(LPOS, "ffffffffLLfBBBff",	"X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,LFlg,GFlg,EPH,EPV"),
+	LOG_FORMAT(LPOS, "ffffffffLLfBBff",	"X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,GFlg,EPH,EPV"),
 	LOG_FORMAT(LPSP, "ffff",		"X,Y,Z,Yaw"),
 	LOG_FORMAT(GPS, "QBffLLfffffBHHH",	"GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"),
 	LOG_FORMAT_S(ATTC, ATTC, "ffff",		"Roll,Pitch,Yaw,Thrust"),
@@ -501,7 +495,6 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(TECS, "fffffffffffffB",	"ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
 	LOG_FORMAT(WIND, "ffff",	"X,Y,CovX,CovY"),
 	LOG_FORMAT(ENCD, "qfqf",	"cnt0,vel0,cnt1,vel1"),
-	LOG_FORMAT(LAND, "B",	"landed"),
 
 	/* system-level messages, ID >= 0x80 */
 	/* FMT: don't write format of format message, it's useless */