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[telemetry] update HOVER_LOOP

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remove unused cmd_body and nav_err
This commit is contained in:
Felix Ruess
2013-10-11 16:58:48 +02:00
parent 8ac5fd8d5b
commit 72ea3b6aa6
3 changed files with 15 additions and 19 deletions
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conf/messages.xml
+1 -5
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@@ -1258,13 +1258,9 @@
<field name="err_yd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="err_sum_x" type="int32"/>
<field name="err_sum_y" type="int32"/>
<field name="err_nav_x" type="int32"/>
<field name="err_nav_y" type="int32"/>
<field name="cmd_x" type="int32"/>
<field name="cmd_y" type="int32"/>
<field name="cmd_phi" type="int32"/>
<field name="cmd_theta" type="int32"/>
<field name="cmd_psi" type="int32"/>
<field name="cmd_heading" type="int32"/>
</message>
sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+14 -13
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@@ -77,7 +77,6 @@ struct Int32Vect2 guidance_h_speed_sp;
struct Int32Vect2 guidance_h_pos_err;
struct Int32Vect2 guidance_h_speed_err;
struct Int32Vect2 guidance_h_trim_att_integrator;
struct Int32Vect2 guidance_h_nav_err;
struct Int32Vect2 guidance_h_cmd_earth;
struct Int32Eulers guidance_h_rc_sp;
@@ -115,18 +114,20 @@ static void send_hover_loop(void) {
struct NedCoor_i* speed = stateGetSpeedNed_i();
struct NedCoor_i* accel = stateGetAccelNed_i();
DOWNLINK_SEND_HOVER_LOOP(DefaultChannel, DefaultDevice,
&guidance_h_pos_sp.x, &guidance_h_pos_sp.y,
&(pos->x), &(pos->y),
&(speed->x), &(speed->y),
&(accel->x), &(accel->y),
&guidance_h_pos_err.x, &guidance_h_pos_err.y,
&guidance_h_speed_err.x, &guidance_h_speed_err.y,
&guidance_h_pos_err_sum.x, &guidance_h_pos_err_sum.y,
&guidance_h_nav_err.x, &guidance_h_nav_err.y,
&guidance_h_command_earth.x, &guidance_h_command_earth.y,
&guidance_h_command_body.phi,
&guidance_h_command_body.theta,
&guidance_h_command_body.psi);
&guidance_h_pos_sp.x,
&guidance_h_pos_sp.y,
&(pos->x), &(pos->y),
&(speed->x), &(speed->y),
&(accel->x), &(accel->y),
&guidance_h_pos_err.x,
&guidance_h_pos_err.y,
&guidance_h_speed_err.x,
&guidance_h_speed_err.y,
&guidance_h_trim_att_integrator.x,
&guidance_h_trim_att_integrator.y,
&guidance_h_cmd_earth.x,
&guidance_h_cmd_earth.y,
&guidance_h_heading_sp);
}
static void send_href(void) {
sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
-1
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@@ -68,7 +68,6 @@ extern struct Int32Vect2 guidance_h_accel_ref; ///< with #INT32_ACCEL_FRAC
extern struct Int32Vect2 guidance_h_pos_err;
extern struct Int32Vect2 guidance_h_speed_err;
extern struct Int32Vect2 guidance_h_trim_att_integrator;
extern struct Int32Vect2 guidance_h_nav_err;
/** horizontal guidance command.