From 3107f4d62cb07de70619093be57ce2b634763eba Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 4 Mar 2014 00:26:26 +0400 Subject: mavlink: UART receiver major cleanup --- src/modules/mavlink/mavlink_receiver.h | 57 ++++++++++++++-------------------- 1 file changed, 24 insertions(+), 33 deletions(-) (limited to 'src/modules/mavlink/mavlink_receiver.h') diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 199e42689..b97919e9d 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -100,7 +100,6 @@ public: static void *start_helper(void *context); private: - perf_counter_t _loop_perf; /**< loop performance counter */ Mavlink *_mavlink; @@ -109,37 +108,29 @@ private: void *receive_thread(void *arg); mavlink_status_t status; - struct vehicle_vicon_position_s vicon_position; - struct vehicle_command_s vcmd; - struct offboard_control_setpoint_s offboard_control_sp; - struct vehicle_global_position_s hil_global_pos; struct vehicle_local_position_s hil_local_pos; - struct vehicle_attitude_s hil_attitude; - struct vehicle_gps_position_s hil_gps; - struct sensor_combined_s hil_sensors; - struct battery_status_s hil_battery_status; - struct position_setpoint_triplet_s pos_sp_triplet; - orb_advert_t pub_hil_global_pos; - orb_advert_t pub_hil_local_pos; - orb_advert_t pub_hil_attitude; - orb_advert_t pub_hil_gps; - orb_advert_t pub_hil_sensors; - orb_advert_t pub_hil_gyro; - orb_advert_t pub_hil_accel; - orb_advert_t pub_hil_mag; - orb_advert_t pub_hil_baro; - orb_advert_t pub_hil_airspeed; - orb_advert_t pub_hil_battery; - int hil_counter; - int hil_frames; - uint64_t old_timestamp; - orb_advert_t cmd_pub; - orb_advert_t flow_pub; - orb_advert_t offboard_control_sp_pub; - orb_advert_t vicon_position_pub; - orb_advert_t telemetry_status_pub; - int32_t lat0; - int32_t lon0; - float alt0; - + int _manual_sub; + orb_advert_t _global_pos_pub; + orb_advert_t _local_pos_pub; + orb_advert_t _attitude_pub; + orb_advert_t _gps_pub; + orb_advert_t _sensors_pub; + orb_advert_t _gyro_pub; + orb_advert_t _accel_pub; + orb_advert_t _mag_pub; + orb_advert_t _baro_pub; + orb_advert_t _airspeed_pub; + orb_advert_t _battery_pub; + orb_advert_t _cmd_pub; + orb_advert_t _flow_pub; + orb_advert_t _offboard_control_sp_pub; + orb_advert_t _vicon_position_pub; + orb_advert_t _telemetry_status_pub; + orb_advert_t _rc_pub; + orb_advert_t _manual_pub; + int _hil_counter; + int _hil_frames; + uint64_t _old_timestamp; + bool _hil_local_proj_inited; + float _hil_local_alt0; }; -- cgit v1.2.3