From 1cc6981ee569756aca42a8c0ada6390d8a497c75 Mon Sep 17 00:00:00 2001 From: stac Date: Sun, 4 Jul 2010 02:21:04 +0000 Subject: [PATCH] attitude: Remove seq field from uavobject The sequence number field for the attitude solution is likely unnecessary. Removed. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1000 ebee16cc-31ac-478f-84a7-5cbb03baadba --- flight/OpenPilot/Modules/Attitude/attitude.c | 1 - flight/OpenPilot/UAVObjects/inc/attitudeactual.h | 4 +--- ground/src/plugins/hitl/flightgearbridge.cpp | 1 - ground/src/plugins/hitlil2/il2bridge.cpp | 1 - ground/src/plugins/uavobjects/attitudeactual.cpp | 3 --- ground/src/plugins/uavobjects/attitudeactual.h | 4 +--- ground/src/plugins/uavobjects/attitudeactual.py | 12 +----------- .../shared/uavobjectdefinition/attitudeactual.xml | 1 - 8 files changed, 3 insertions(+), 24 deletions(-) diff --git a/flight/OpenPilot/Modules/Attitude/attitude.c b/flight/OpenPilot/Modules/Attitude/attitude.c index b557be503..8aa860bd7 100644 --- a/flight/OpenPilot/Modules/Attitude/attitude.c +++ b/flight/OpenPilot/Modules/Attitude/attitude.c @@ -95,7 +95,6 @@ static void attitudeTask(void* parameters) PIOS_OPAHRS_ReadAttitude(); // Update the data - data.seq++; data.q1 += 0.111; data.q2 += 1.1; data.q3 += 7.0; diff --git a/flight/OpenPilot/UAVObjects/inc/attitudeactual.h b/flight/OpenPilot/UAVObjects/inc/attitudeactual.h index e0c1a69ff..366154718 100644 --- a/flight/OpenPilot/UAVObjects/inc/attitudeactual.h +++ b/flight/OpenPilot/UAVObjects/inc/attitudeactual.h @@ -33,7 +33,7 @@ #define ATTITUDEACTUAL_H // Object constants -#define ATTITUDEACTUAL_OBJID 1730350400U +#define ATTITUDEACTUAL_OBJID 4233858292U #define ATTITUDEACTUAL_NAME "AttitudeActual" #define ATTITUDEACTUAL_METANAME "AttitudeActualMeta" #define ATTITUDEACTUAL_ISSINGLEINST 1 @@ -57,7 +57,6 @@ // Object data typedef struct { - uint32_t seq; float q1; float q2; float q3; @@ -69,7 +68,6 @@ typedef struct { } __attribute__((packed)) AttitudeActualData; // Field information -// Field seq information // Field q1 information // Field q2 information // Field q3 information diff --git a/ground/src/plugins/hitl/flightgearbridge.cpp b/ground/src/plugins/hitl/flightgearbridge.cpp index 9fda75aab..06672693b 100644 --- a/ground/src/plugins/hitl/flightgearbridge.cpp +++ b/ground/src/plugins/hitl/flightgearbridge.cpp @@ -265,7 +265,6 @@ void FlightGearBridge::processUpdate(QString& data) attActualData.q2 = 0; attActualData.q3 = 0; attActualData.q4 = 0; - attActualData.seq = 0; attActual->setData(attActualData); // Update gps objects diff --git a/ground/src/plugins/hitlil2/il2bridge.cpp b/ground/src/plugins/hitlil2/il2bridge.cpp index 68ff0f7c1..c2c0992c8 100644 --- a/ground/src/plugins/hitlil2/il2bridge.cpp +++ b/ground/src/plugins/hitlil2/il2bridge.cpp @@ -342,7 +342,6 @@ void Il2Bridge::processUpdate(QString& data) attActualData.q2 = 0; attActualData.q3 = 0; attActualData.q4 = 0; - attActualData.seq = 0; attActual->setData(attActualData); // Update gps objects diff --git a/ground/src/plugins/uavobjects/attitudeactual.cpp b/ground/src/plugins/uavobjects/attitudeactual.cpp index 2c780e1a9..8cad1763a 100644 --- a/ground/src/plugins/uavobjects/attitudeactual.cpp +++ b/ground/src/plugins/uavobjects/attitudeactual.cpp @@ -40,9 +40,6 @@ AttitudeActual::AttitudeActual(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, { // Create fields QList fields; - QStringList seqElemNames; - seqElemNames.append("0"); - fields.append( new UAVObjectField(QString("seq"), QString("none"), UAVObjectField::UINT32, seqElemNames, QStringList()) ); QStringList q1ElemNames; q1ElemNames.append("0"); fields.append( new UAVObjectField(QString("q1"), QString("none"), UAVObjectField::FLOAT32, q1ElemNames, QStringList()) ); diff --git a/ground/src/plugins/uavobjects/attitudeactual.h b/ground/src/plugins/uavobjects/attitudeactual.h index 669d87ecb..e330a5743 100644 --- a/ground/src/plugins/uavobjects/attitudeactual.h +++ b/ground/src/plugins/uavobjects/attitudeactual.h @@ -41,7 +41,6 @@ class UAVOBJECTS_EXPORT AttitudeActual: public UAVDataObject public: // Field structure typedef struct { - quint32 seq; float q1; float q2; float q3; @@ -53,7 +52,6 @@ public: } __attribute__((packed)) DataFields; // Field information - // Field seq information // Field q1 information // Field q2 information // Field q3 information @@ -64,7 +62,7 @@ public: // Constants - static const quint32 OBJID = 1730350400U; + static const quint32 OBJID = 4233858292U; static const QString NAME; static const bool ISSINGLEINST = 1; static const bool ISSETTINGS = 0; diff --git a/ground/src/plugins/uavobjects/attitudeactual.py b/ground/src/plugins/uavobjects/attitudeactual.py index ca8a59436..d265c059b 100644 --- a/ground/src/plugins/uavobjects/attitudeactual.py +++ b/ground/src/plugins/uavobjects/attitudeactual.py @@ -37,16 +37,6 @@ from collections import namedtuple # This is a list of instances of the data fields contained in this object _fields = [ \ - uavobject.UAVObjectField( - 'seq', - 'I', - 1, - [ - '0', - ], - { - } - ), uavobject.UAVObjectField( 'q1', 'f', @@ -122,7 +112,7 @@ _fields = [ \ class AttitudeActual(uavobject.UAVObject): ## Object constants - OBJID = 1730350400 + OBJID = 4233858292 NAME = "AttitudeActual" METANAME = "AttitudeActualMeta" ISSINGLEINST = 1 diff --git a/ground/src/shared/uavobjectdefinition/attitudeactual.xml b/ground/src/shared/uavobjectdefinition/attitudeactual.xml index 9550fe1b7..748c3dbf1 100644 --- a/ground/src/shared/uavobjectdefinition/attitudeactual.xml +++ b/ground/src/shared/uavobjectdefinition/attitudeactual.xml @@ -1,6 +1,5 @@ -