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px4-firmware
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actuator effective removed - unused

This commit is contained in:
marco 2013-11-19 17:35:04 +01:00
parent 21cc19cef6
commit f82a202667
1 changed files with 1 additions and 15 deletions
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16
src/drivers/mkblctrl/mkblctrl.cpp
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@ -75,7 +75,6 @@
#include <drivers/drv_mixer.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/esc_status.h>
@ -146,7 +145,6 @@ private:
char _device[20]; ///< device
orb_advert_t _t_outputs;
orb_advert_t _t_actuators_effective;
orb_advert_t _t_esc_status;
unsigned int _num_outputs;
@ -255,7 +253,6 @@ MK::MK(int bus, const char *_device_path) :
_t_actuators(-1),
_t_actuator_armed(-1),
_t_outputs(0),
_t_actuators_effective(0),
_t_esc_status(0),
_num_outputs(0),
_motortest(false),
@ -534,13 +531,6 @@ MK::task_main()
_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
&outputs);
/* advertise the effective control inputs */
actuator_controls_effective_s controls_effective;
memset(&controls_effective, 0, sizeof(controls_effective));
/* advertise the effective control inputs */
_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1),
&controls_effective);
/* advertise the blctrl status */
esc_status_s esc;
memset(&esc, 0, sizeof(esc));
@ -604,9 +594,6 @@ MK::task_main()
outputs.noutputs = _mixers->mix(&outputs.output[0], _num_outputs);
outputs.timestamp = hrt_absolute_time();
// XXX output actual limited values
memcpy(&controls_effective, &_controls, sizeof(controls_effective));
/* iterate actuators */
for (unsigned int i = 0; i < _num_outputs; i++) {
@ -712,9 +699,8 @@ MK::task_main()
}
//::close(_t_esc_status);
::close(_t_esc_status);
::close(_t_actuators);
::close(_t_actuators_effective);
::close(_t_actuator_armed);