diff options
Diffstat (limited to 'src/drivers/ardrone_interface/ardrone_motor_control.c')
| -rw-r--r-- | src/drivers/ardrone_interface/ardrone_motor_control.c | 23 |
1 files changed, 0 insertions, 23 deletions
diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c index 01b89c8fa..81f634992 100644 --- a/src/drivers/ardrone_interface/ardrone_motor_control.c +++ b/src/drivers/ardrone_interface/ardrone_motor_control.c @@ -46,7 +46,6 @@ #include <drivers/drv_hrt.h> #include <uORB/uORB.h> #include <uORB/topics/actuator_outputs.h> -#include <uORB/topics/actuator_controls_effective.h> #include <systemlib/err.h> #include "ardrone_motor_control.h" @@ -384,9 +383,6 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls const float startpoint_full_control = 0.25f; /**< start full control at 25% thrust */ static bool initialized = false; - /* publish effective outputs */ - static struct actuator_controls_effective_s actuator_controls_effective; - static orb_advert_t actuator_controls_effective_pub; /* linearly scale the control inputs from 0 to startpoint_full_control */ if (motor_thrust < startpoint_full_control) { @@ -430,25 +426,6 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control); } - - - /* publish effective outputs */ - actuator_controls_effective.control_effective[0] = roll_control; - actuator_controls_effective.control_effective[1] = pitch_control; - /* yaw output after limiting */ - actuator_controls_effective.control_effective[2] = yaw_control; - /* possible motor thrust limiting */ - actuator_controls_effective.control_effective[3] = (motor_calc[0] + motor_calc[1] + motor_calc[2] + motor_calc[3]) / 4.0f; - - if (!initialized) { - /* advertise and publish */ - actuator_controls_effective_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, &actuator_controls_effective); - initialized = true; - } else { - /* already initialized, just publishing */ - orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, actuator_controls_effective_pub, &actuator_controls_effective); - } - /* set the motor values */ /* scale up from 0..1 to 10..500) */ |