diff options
Diffstat (limited to 'src/drivers/mkblctrl/mkblctrl.cpp')
| -rw-r--r-- | src/drivers/mkblctrl/mkblctrl.cpp | 14 |
1 files changed, 0 insertions, 14 deletions
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index b93f38cf6..7ef883f94 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -73,7 +73,6 @@ #include <drivers/drv_mixer.h> #include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_controls_effective.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_armed.h> #include <uORB/topics/esc_status.h> @@ -143,7 +142,6 @@ private: int _frametype; orb_advert_t _t_outputs; - orb_advert_t _t_actuators_effective; orb_advert_t _t_esc_status; unsigned int _num_outputs; @@ -252,7 +250,6 @@ MK::MK(int bus) : _t_actuators(-1), _t_actuator_armed(-1), _t_outputs(0), - _t_actuators_effective(0), _t_esc_status(0), _num_outputs(0), _motortest(false), @@ -525,13 +522,6 @@ MK::task_main() _t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), &outputs); - /* advertise the effective control inputs */ - actuator_controls_effective_s controls_effective; - memset(&controls_effective, 0, sizeof(controls_effective)); - /* advertise the effective control inputs */ - _t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), - &controls_effective); - /* advertise the blctrl status */ esc_status_s esc; memset(&esc, 0, sizeof(esc)); @@ -595,9 +585,6 @@ MK::task_main() outputs.noutputs = _mixers->mix(&outputs.output[0], _num_outputs); outputs.timestamp = hrt_absolute_time(); - // XXX output actual limited values - memcpy(&controls_effective, &_controls, sizeof(controls_effective)); - /* iterate actuators */ for (unsigned int i = 0; i < _num_outputs; i++) { @@ -701,7 +688,6 @@ MK::task_main() //::close(_t_esc_status); ::close(_t_actuators); - ::close(_t_actuators_effective); ::close(_t_actuator_armed); |