diff options
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 10 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 9 |
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 */ |