diff options
Diffstat (limited to 'src/modules/mavlink/orb_listener.c')
| -rw-r--r-- | src/modules/mavlink/orb_listener.c | 34 |
1 files changed, 1 insertions, 33 deletions
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index abc91d34f..a19252465 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -72,7 +72,6 @@ struct vehicle_status_s v_status; struct rc_channels_s rc; struct rc_input_values rc_raw; struct actuator_armed_s armed; -struct actuator_controls_effective_s actuators_effective_0; struct actuator_controls_s actuators_0; struct vehicle_attitude_s att; struct airspeed_s airspeed; @@ -119,7 +118,6 @@ static void l_attitude_setpoint(const struct listener *l); static void l_actuator_outputs(const struct listener *l); static void l_actuator_armed(const struct listener *l); static void l_manual_control_setpoint(const struct listener *l); -static void l_vehicle_attitude_controls_effective(const struct listener *l); static void l_vehicle_attitude_controls(const struct listener *l); static void l_debug_key_value(const struct listener *l); static void l_optical_flow(const struct listener *l); @@ -147,7 +145,6 @@ static const struct listener listeners[] = { {l_actuator_armed, &mavlink_subs.armed_sub, 0}, {l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0}, {l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0}, - {l_vehicle_attitude_controls_effective, &mavlink_subs.actuators_effective_sub, 0}, {l_debug_key_value, &mavlink_subs.debug_key_value, 0}, {l_optical_flow, &mavlink_subs.optical_flow, 0}, {l_vehicle_rates_setpoint, &mavlink_subs.rates_setpoint_sub, 0}, @@ -249,7 +246,7 @@ l_vehicle_attitude(const struct listener *l) last_sent_vfr = t; float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy); uint16_t heading = (att.yaw + M_PI_F) / M_PI_F * 180.0f; - float throttle = actuators_effective_0.control_effective[3] * (UINT16_MAX - 1); + float throttle = armed.armed ? actuators_0.control[3] * 100.0f : 0.0f; mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vz); } } @@ -604,32 +601,6 @@ l_manual_control_setpoint(const struct listener *l) } void -l_vehicle_attitude_controls_effective(const struct listener *l) -{ - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_effective_sub, &actuators_effective_0); - - if (gcs_link) { - /* send, add spaces so that string buffer is at least 10 chars long */ - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "eff ctrl0 ", - actuators_effective_0.control_effective[0]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "eff ctrl1 ", - actuators_effective_0.control_effective[1]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "eff ctrl2 ", - actuators_effective_0.control_effective[2]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "eff ctrl3 ", - actuators_effective_0.control_effective[3]); - } -} - -void l_vehicle_attitude_controls(const struct listener *l) { orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators_0); @@ -839,9 +810,6 @@ uorb_receive_start(void) orb_set_interval(mavlink_subs.man_control_sp_sub, 100); /* 10Hz updates */ /* --- ACTUATOR CONTROL VALUE --- */ - mavlink_subs.actuators_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); - orb_set_interval(mavlink_subs.actuators_effective_sub, 100); /* 10Hz updates */ - mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); orb_set_interval(mavlink_subs.actuators_sub, 100); /* 10Hz updates */ |