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AP_OpticalFlow: Remove unused device ID tracking

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Michael du Breuil 2019-04-26 01:01:49 -07:00 committed by Randy Mackay
parent d3d6bed584
commit b1bc4268a9
7 changed files with 0 additions and 10 deletions
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1
libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp
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@ -158,7 +158,6 @@ void AP_OpticalFlow_CXOF::update(void)
}
struct OpticalFlow::OpticalFlow_state state {};
state.device_id = 0x43; // 'C'
// average surface quality scaled to be between 0 and 255
state.surface_quality = (constrain_int16(qual_sum / count, 64, 78) - 64) * 255 / 14;

1
libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.cpp
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@ -46,7 +46,6 @@ void AP_OpticalFlow_MAV::update(void)
struct OpticalFlow::OpticalFlow_state state {};
state.device_id = sensor_id;
state.surface_quality = quality_sum / count;
// calculate dt

1
libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp
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@ -53,7 +53,6 @@ void AP_OpticalFlow_Onboard::update()
}
struct OpticalFlow::OpticalFlow_state state;
state.device_id = OPTICALFLOW_ONBOARD_ID;
state.surface_quality = data_frame.quality;
if (data_frame.delta_time > 0) {
const Vector2f flowScaler = _flowScaler();

1
libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp
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@ -114,7 +114,6 @@ void AP_OpticalFlow_PX4Flow::timer(void)
return;
}
struct OpticalFlow::OpticalFlow_state state {};
state.device_id = get_address();
if (frame.integration_timespan > 0) {
const Vector2f flowScaler = _flowScaler();

1
libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
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@ -330,7 +330,6 @@ void AP_OpticalFlow_Pixart::update(void)
last_update_ms = now;
struct OpticalFlow::OpticalFlow_state state;
state.device_id = 1;
state.surface_quality = burst.squal;
if (integral.sum_us > 0) {

1
libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.cpp
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@ -66,7 +66,6 @@ void AP_OpticalFlow_SITL::update(void)
radians(_sitl->state.yawDeg));
state.device_id = 1;
state.surface_quality = 51;
// sensor position offset in body frame

4
libraries/AP_OpticalFlow/OpticalFlow.h
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@ -76,14 +76,10 @@ public:
// velocity - returns the velocity in m/s
const Vector2f& bodyRate() const { return _state.bodyRate; }
// device_id - returns device id
uint8_t device_id() const { return _state.device_id; }
// last_update() - returns system time of last sensor update
uint32_t last_update() const { return _last_update_ms; }
struct OpticalFlow_state {
uint8_t device_id; // device id
uint8_t surface_quality; // image quality (below TBD you can't trust the dx,dy values returned)
Vector2f flowRate; // optical flow angular rate in rad/sec measured about the X and Y body axis. A RH rotation about a sensor axis produces a positive rate.
Vector2f bodyRate; // body inertial angular rate in rad/sec measured about the X and Y body axis. A RH rotation about a sensor axis produces a positive rate.