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px4-firmware
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Minor code style fixes, removed dead code

This commit is contained in:
Lorenz Meier 2012-10-17 15:10:04 +02:00
parent 8b000b3317
commit d4e6a9d7a1
2 changed files with 6 additions and 24 deletions
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9
apps/mavlink/mavlink_receiver.c
View File

@ -225,24 +225,16 @@ handle_message(mavlink_message_t *msg)
uint8_t ml_mode = 0; uint8_t ml_mode = 0;
bool ml_armed = false; bool ml_armed = false;
// if (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED) {
// ml_armed = true;
// }
switch (quad_motors_setpoint.mode) { switch (quad_motors_setpoint.mode) {
case 0: case 0:
ml_armed = false; ml_armed = false;
break; break;
case 1: case 1:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES; ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
ml_armed = true; ml_armed = true;
break; break;
case 2: case 2:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
ml_armed = true; ml_armed = true;
@ -259,7 +251,6 @@ handle_message(mavlink_message_t *msg)
offboard_control_sp.p2 = quad_motors_setpoint.pitch[mavlink_system.sysid] / (float)INT16_MAX; offboard_control_sp.p2 = quad_motors_setpoint.pitch[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p3= quad_motors_setpoint.yaw[mavlink_system.sysid] / (float)INT16_MAX; offboard_control_sp.p3= quad_motors_setpoint.yaw[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid]/(float)UINT16_MAX; offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid]/(float)UINT16_MAX;
//offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid] ;
if (quad_motors_setpoint.thrust[mavlink_system.sysid] ==0){ if (quad_motors_setpoint.thrust[mavlink_system.sysid] ==0){
ml_armed = false; ml_armed = false;

17
apps/mavlink/orb_listener.c
View File

@ -141,12 +141,6 @@ l_sensor_combined(struct listener *l)
last_sensor_timestamp = raw.timestamp; last_sensor_timestamp = raw.timestamp;
/* send raw imu data */
// mavlink_msg_raw_imu_send(MAVLINK_COMM_0, last_sensor_timestamp, raw.accelerometer_raw[0],
// raw.accelerometer_raw[1], raw.accelerometer_raw[2], raw.gyro_raw[0],
// raw.gyro_raw[1], raw.gyro_raw[2], raw.magnetometer_raw[0],
// raw.magnetometer_raw[1], raw.magnetometer_raw[2]);
/* mark individual fields as changed */ /* mark individual fields as changed */
uint16_t fields_updated = 0; uint16_t fields_updated = 0;
static unsigned accel_counter = 0; static unsigned accel_counter = 0;
@ -161,19 +155,19 @@ l_sensor_combined(struct listener *l)
} }
if (gyro_counter != raw.gyro_counter) { if (gyro_counter != raw.gyro_counter) {
/* mark first three dimensions as changed */ /* mark second group dimensions as changed */
fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); fields_updated |= (1 << 3) | (1 << 4) | (1 << 5);
gyro_counter = raw.gyro_counter; gyro_counter = raw.gyro_counter;
} }
if (mag_counter != raw.magnetometer_counter) { if (mag_counter != raw.magnetometer_counter) {
/* mark first three dimensions as changed */ /* mark third group dimensions as changed */
fields_updated |= (1 << 6) | (1 << 7) | (1 << 8); fields_updated |= (1 << 6) | (1 << 7) | (1 << 8);
mag_counter = raw.magnetometer_counter; mag_counter = raw.magnetometer_counter;
} }
if (baro_counter != raw.baro_counter) { if (baro_counter != raw.baro_counter) {
/* mark first three dimensions as changed */ /* mark last group dimensions as changed */
fields_updated |= (1 << 9) | (1 << 11) | (1 << 12); fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
baro_counter = raw.baro_counter; baro_counter = raw.baro_counter;
} }
@ -187,8 +181,6 @@ l_sensor_combined(struct listener *l)
raw.baro_pres_mbar, 0 /* no diff pressure yet */, raw.baro_pres_mbar, 0 /* no diff pressure yet */,
raw.baro_alt_meter, raw.baro_temp_celcius, raw.baro_alt_meter, raw.baro_temp_celcius,
fields_updated); fields_updated);
/* send pressure */
//mavlink_msg_scaled_pressure_send(MAVLINK_COMM_0, raw.timestamp / 1000, raw.baro_pres_mbar, raw.baro_alt_meter, raw.baro_temp_celcius * 100);
sensors_raw_counter++; sensors_raw_counter++;
} }
@ -631,8 +623,7 @@ uorb_receive_start(void)
pthread_attr_init(&uorb_attr); pthread_attr_init(&uorb_attr);
/* Set stack size, needs more than 8000 bytes */ /* Set stack size, needs more than 8000 bytes */
/* XXX verify, should not need anything like this much unless MAVLink really sucks */ pthread_attr_setstacksize(&uorb_attr, 4096);
pthread_attr_setstacksize(&uorb_attr, 8192);
pthread_t thread; pthread_t thread;
pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL); pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL);