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mavlink: remove unused methods

This commit is contained in:
Julian Oes 2021-04-21 08:34:18 +02:00 committed by Matthias Grob
parent 97aa06cc19
commit e2e908d0fc
2 changed files with 2 additions and 45 deletions
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35
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -1954,41 +1954,6 @@ MavlinkReceiver::handle_message_trajectory_representation_waypoints(mavlink_mess
_trajectory_waypoint_pub.publish(trajectory_waypoint); _trajectory_waypoint_pub.publish(trajectory_waypoint);
} }
int
MavlinkReceiver::decode_switch_pos_n(uint16_t buttons, unsigned sw)
{
bool on = (buttons & (1 << sw));
if (sw < MOM_SWITCH_COUNT) {
bool last_on = (_mom_switch_state & (1 << sw));
/* first switch is 2-pos, rest is 2 pos */
unsigned state_count = (sw == 0) ? 3 : 2;
/* only transition on low state */
if (!on && (on != last_on)) {
_mom_switch_pos[sw]++;
if (_mom_switch_pos[sw] == state_count) {
_mom_switch_pos[sw] = 0;
}
}
/* state_count - 1 is the number of intervals and 1000 is the range,
* with 2 states 0 becomes 0, 1 becomes 1000. With
* 3 states 0 becomes 0, 1 becomes 500, 2 becomes 1000,
* and so on for more states.
*/
return (_mom_switch_pos[sw] * 1000) / (state_count - 1) + 1000;
} else {
/* return the current state */
return on * 1000 + 1000;
}
}
void void
MavlinkReceiver::handle_message_rc_channels(mavlink_message_t *msg) MavlinkReceiver::handle_message_rc_channels(mavlink_message_t *msg)
{ {

12
src/modules/mavlink/mavlink_receiver.h
View File

@ -130,6 +130,7 @@ public:
bool component_was_seen(int system_id, int component_id); bool component_was_seen(int system_id, int component_id);
void enable_message_statistics() { _message_statistics_enabled = true; } void enable_message_statistics() { _message_statistics_enabled = true; }
void print_detailed_rx_stats() const; void print_detailed_rx_stats() const;
static void *start_helper(void *context);
void request_stop() { _should_exit.store(true); } void request_stop() { _should_exit.store(true); }
@ -220,11 +221,6 @@ private:
int set_message_interval(int msgId, float interval, int data_rate = -1); int set_message_interval(int msgId, float interval, int data_rate = -1);
void get_message_interval(int msgId); void get_message_interval(int msgId);
/**
* Decode a switch position from a bitfield and state.
*/
int decode_switch_pos_n(uint16_t buttons, unsigned sw);
bool evaluate_target_ok(int command, int target_system, int target_component); bool evaluate_target_ok(int command, int target_system, int target_component);
void fill_thrust(float *thrust_body_array, uint8_t vehicle_type, float thrust); void fill_thrust(float *thrust_body_array, uint8_t vehicle_type, float thrust);
@ -366,12 +362,8 @@ private:
PX4Gyroscope *_px4_gyro{nullptr}; PX4Gyroscope *_px4_gyro{nullptr};
PX4Magnetometer *_px4_mag{nullptr}; PX4Magnetometer *_px4_mag{nullptr};
static constexpr unsigned int MOM_SWITCH_COUNT{8};
uint8_t _mom_switch_pos[MOM_SWITCH_COUNT] {};
uint16_t _mom_switch_state{0};
map_projection_reference_s _global_local_proj_ref{};
float _global_local_alt0{NAN}; float _global_local_alt0{NAN};
map_projection_reference_s _global_local_proj_ref{};
hrt_abstime _last_utm_global_pos_com{0}; hrt_abstime _last_utm_global_pos_com{0};