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px4-firmware
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WIP remove unnecessary functions

This commit is contained in:
Thomas Gubler 2014-12-11 16:41:04 +01:00
parent 9c09a9e8d5
commit ce73a81602
4 changed files with 3 additions and 123 deletions
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89
src/modules/mc_att_control/mc_att_control.cpp
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@ -211,84 +211,6 @@ MulticopterAttitudeControl::parameters_update()
return OK; return OK;
} }
void
MulticopterAttitudeControl::parameter_update_poll()
{
bool updated;
/* Check HIL state if vehicle status has changed */
orb_check(_params_sub, &updated);
if (updated) {
struct parameter_update_s param_update;
orb_copy(ORB_ID(parameter_update), _params_sub, &param_update);
parameters_update();
}
}
void
MulticopterAttitudeControl::vehicle_control_mode_poll()
{
bool updated;
/* Check HIL state if vehicle status has changed */
orb_check(_v_control_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), _v_control_mode_sub, &_v_control_mode);
}
}
void
MulticopterAttitudeControl::vehicle_manual_poll()
{
bool updated;
/* get pilots inputs */
orb_check(_manual_control_sp_sub, &updated);
if (updated) {
orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp);
}
}
void
MulticopterAttitudeControl::vehicle_attitude_setpoint_poll()
{
/* check if there is a new setpoint */
bool updated;
orb_check(_v_att_sp_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_attitude_setpoint), _v_att_sp_sub, &_v_att_sp);
}
}
void
MulticopterAttitudeControl::vehicle_rates_setpoint_poll()
{
/* check if there is a new setpoint */
bool updated;
orb_check(_v_rates_sp_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_sub, &_v_rates_sp);
}
}
void
MulticopterAttitudeControl::arming_status_poll()
{
/* check if there is a new setpoint */
bool updated;
orb_check(_armed_sub, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
}
}
void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg) { void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg) {
perf_begin(_loop_perf); perf_begin(_loop_perf);
@ -306,15 +228,6 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi
dt = 0.02f; dt = 0.02f;
} }
/* copy attitude topic */
orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att);
/* check for updates in other topics */
parameter_update_poll();
vehicle_control_mode_poll();
arming_status_poll();
vehicle_manual_poll();
if (_v_control_mode.flag_control_attitude_enabled) { if (_v_control_mode.flag_control_attitude_enabled) {
control_attitude(dt); control_attitude(dt);
@ -373,7 +286,7 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi
} else { } else {
/* attitude controller disabled, poll rates setpoint topic */ /* attitude controller disabled, poll rates setpoint topic */
vehicle_rates_setpoint_poll(); //XXX vehicle_rates_setpoint_poll();
_rates_sp(0) = _v_rates_sp.roll; _rates_sp(0) = _v_rates_sp.roll;
_rates_sp(1) = _v_rates_sp.pitch; _rates_sp(1) = _v_rates_sp.pitch;
_rates_sp(2) = _v_rates_sp.yaw; _rates_sp(2) = _v_rates_sp.yaw;

31
src/modules/mc_att_control/mc_att_control.h
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@ -139,36 +139,5 @@ private:
* Update our local parameter cache. * Update our local parameter cache.
*/ */
int parameters_update(); int parameters_update();
/**
* Check for parameter update and handle it.
*/
void parameter_update_poll();
/**
* Check for changes in vehicle control mode.
*/
void vehicle_control_mode_poll();
/**
* Check for changes in manual inputs.
*/
void vehicle_manual_poll();
/**
* Check for attitude setpoint updates.
*/
void vehicle_attitude_setpoint_poll();
/**
* Check for rates setpoint updates.
*/
void vehicle_rates_setpoint_poll();
/**
* Check for arming status updates.
*/
void arming_status_poll();
}; };

4
src/modules/mc_att_control/mc_att_control_base.cpp
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@ -101,7 +101,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
if (_v_control_mode.flag_control_velocity_enabled if (_v_control_mode.flag_control_velocity_enabled
|| _v_control_mode.flag_control_climb_rate_enabled) { || _v_control_mode.flag_control_climb_rate_enabled) {
/* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */ /* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */
vehicle_attitude_setpoint_poll(); //XXX vehicle_attitude_setpoint_poll();
} }
if (!_v_control_mode.flag_control_climb_rate_enabled) { if (!_v_control_mode.flag_control_climb_rate_enabled) {
@ -160,7 +160,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
} else { } else {
/* in non-manual mode use 'vehicle_attitude_setpoint' topic */ /* in non-manual mode use 'vehicle_attitude_setpoint' topic */
vehicle_attitude_setpoint_poll(); //XXX vehicle_attitude_setpoint_poll();
/* reset yaw setpoint after non-manual control mode */ /* reset yaw setpoint after non-manual control mode */
_reset_yaw_sp = true; _reset_yaw_sp = true;

2
src/modules/mc_att_control/mc_att_control_base.h
View File

@ -120,8 +120,6 @@ protected:
bool _publish_att_sp; bool _publish_att_sp;
virtual void vehicle_attitude_setpoint_poll() = 0;
}; };
#endif /* MC_ATT_CONTROL_BASE_H_ */ #endif /* MC_ATT_CONTROL_BASE_H_ */