diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 21 |
1 files changed, 3 insertions, 18 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index f94875d5b..2adb13f5c 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -68,7 +68,6 @@ #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_controls_effective.h> #include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position_setpoint.h> @@ -691,7 +690,6 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_rates_setpoint_s rates_sp; struct actuator_outputs_s act_outputs; struct actuator_controls_s act_controls; - struct actuator_controls_effective_s act_controls_effective; struct vehicle_local_position_s local_pos; struct vehicle_local_position_setpoint_s local_pos_sp; struct vehicle_global_position_s global_pos; @@ -717,7 +715,6 @@ int sdlog2_thread_main(int argc, char *argv[]) int rates_sp_sub; int act_outputs_sub; int act_controls_sub; - int act_controls_effective_sub; int local_pos_sub; int local_pos_sp_sub; int global_pos_sub; @@ -763,9 +760,9 @@ int sdlog2_thread_main(int argc, char *argv[]) memset(&log_msg.body, 0, sizeof(log_msg.body)); /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ - /* number of messages */ - const ssize_t fdsc = 20; - /* Sanity check variable and index */ + /* number of subscriptions */ + const ssize_t fdsc = 19; + /* sanity check variable and index */ ssize_t fdsc_count = 0; /* file descriptors to wait for */ struct pollfd fds[fdsc]; @@ -824,12 +821,6 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; - /* --- ACTUATOR CONTROL EFFECTIVE --- */ - subs.act_controls_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); - fds[fdsc_count].fd = subs.act_controls_effective_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - /* --- LOCAL POSITION --- */ subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); fds[fdsc_count].fd = subs.local_pos_sub; @@ -1114,12 +1105,6 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(ATTC); } - /* --- ACTUATOR CONTROL EFFECTIVE --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.act_controls_effective_sub, &buf.act_controls_effective); - // TODO not implemented yet - } - /* --- LOCAL POSITION --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos); |