diff options
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control.cpp | 14 | ||||
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control.h | 9 |
2 files changed, 0 insertions, 23 deletions
diff --git a/src/modules/mc_att_control/mc_att_control.cpp b/src/modules/mc_att_control/mc_att_control.cpp index 89daa8b48..bbda1f8aa 100644 --- a/src/modules/mc_att_control/mc_att_control.cpp +++ b/src/modules/mc_att_control/mc_att_control.cpp @@ -65,13 +65,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _task_should_exit(false), _control_task(-1), _actuators_0_circuit_breaker_enabled(false), - /* subscriptions */ - _v_att_sub(-1), - _v_att_sp_sub(-1), - _v_control_mode_sub(-1), - _params_sub(-1), - _manual_control_sp_sub(-1), - _armed_sub(-1), /* publications */ _att_sp_pub(nullptr), @@ -110,19 +103,12 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : /* * do subscriptions */ - // _v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); PX4_SUBSCRIBE(_n, vehicle_attitude, MulticopterAttitudeControl::handle_vehicle_attitude, this, 0); - // _v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); PX4_SUBSCRIBE(_n, vehicle_attitude_setpoint, 0); - // _v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); PX4_SUBSCRIBE(_n, vehicle_rates_setpoint, 0); - // _v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); PX4_SUBSCRIBE(_n, vehicle_control_mode, 0); - // _params_sub = orb_subscribe(ORB_ID(parameter_update)); PX4_SUBSCRIBE(_n, parameter_update, 0); - // _manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); PX4_SUBSCRIBE(_n, manual_control_setpoint, 0); - // _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); PX4_SUBSCRIBE(_n, actuator_armed, 0); } diff --git a/src/modules/mc_att_control/mc_att_control.h b/src/modules/mc_att_control/mc_att_control.h index 229e8e672..24009a5e6 100644 --- a/src/modules/mc_att_control/mc_att_control.h +++ b/src/modules/mc_att_control/mc_att_control.h @@ -94,15 +94,6 @@ private: int _control_task; /**< task handle for sensor task */ bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */ - - int _v_att_sub; /**< vehicle attitude subscription */ - int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */ - int _v_rates_sp_sub; /**< vehicle rates setpoint subscription */ - int _v_control_mode_sub; /**< vehicle control mode subscription */ - int _params_sub; /**< parameter updates subscription */ - int _manual_control_sp_sub; /**< manual control setpoint subscription */ - int _armed_sub; /**< arming status subscription */ - px4::Publisher * _att_sp_pub; /**< attitude setpoint publication */ px4::Publisher * _v_rates_sp_pub; /**< rate setpoint publication */ px4::Publisher * _actuators_0_pub; /**< attitude actuator controls publication */ |