MulticoperPositionControl: 3rd pass get rid of zombie members

PX4 · Dec 1, 2020 · e28af51 · e28af51
1 parent e46a917
commit e28af51
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Showing 8 changed files with 11 additions and 383 deletions.
diff --git a/src/modules/flight_mode_manager/FlightModeManager.hpp b/src/modules/flight_mode_manager/FlightModeManager.hpp
@@ -38,9 +38,10 @@
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <lib/flight_tasks/FlightTasks.hpp>
-#include <Takeoff.hpp>
 
+#include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
+#include <uORB/Publication.hpp>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_control_mode.h>
@@ -49,6 +50,8 @@
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
 
+#include "Takeoff/Takeoff.hpp"
+
 class FlightModeManager : public ModuleBase<FlightModeManager>, public ModuleParams, public px4::WorkItem
 {
 public:

diff --git a/src/modules/mc_pos_control/CMakeLists.txt b/src/modules/mc_pos_control/CMakeLists.txt
@@ -31,7 +31,6 @@
 #
 ############################################################################
 
-add_subdirectory(Takeoff)
 add_subdirectory(PositionControl)
 
 px4_add_module(
@@ -50,5 +49,4 @@ px4_add_module(
 		ecl_geo
 		WeatherVane
 		CollisionPrevention
-		Takeoff2
 	)
diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
@@ -33,6 +33,10 @@
 
 #include "MulticopterPositionControl.hpp"
 
+#include <float.h>
+#include <lib/mathlib/mathlib.h>
+#include <lib/matrix/matrix/math.hpp>
+
 using namespace time_literals;
 using namespace matrix;
 

diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.hpp b/src/modules/mc_pos_control/MulticopterPositionControl.hpp
@@ -42,37 +42,27 @@
 #include <lib/controllib/blocks.hpp>
 #include <lib/flight_tasks/FlightTasks.hpp>
 #include <lib/hysteresis/hysteresis.h>
-#include <lib/mathlib/mathlib.h>
-#include <lib/matrix/matrix/math.hpp>
 #include <lib/perf/perf_counter.h>
 #include <lib/systemlib/mavlink_log.h>
-#include <lib/weather_vane/WeatherVane.hpp>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <px4_platform_common/posix.h>
 #include <px4_platform_common/tasks.h>
-#include <uORB/Publication.hpp>
+
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
-#include <uORB/topics/home_position.h>
-#include <uORB/topics/landing_gear.h>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/hover_thrust_estimate.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_control_mode.h>
-#include <uORB/topics/vehicle_land_detected.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_trajectory_waypoint.h>
-#include <uORB/topics/hover_thrust_estimate.h>
 
 #include "PositionControl/PositionControl.hpp"
-#include "Takeoff/Takeoff.hpp"
-
-#include <float.h>
 
 class MulticopterPositionControl : public ModuleBase<MulticopterPositionControl>, public control::SuperBlock,
 	public ModuleParams, public px4::WorkItem
@@ -95,8 +85,6 @@ class MulticopterPositionControl : public ModuleBase<MulticopterPositionControl>
 private:
 	void Run() override;
 
-	Takeoff _takeoff; /**< state machine and ramp to bring the vehicle off the ground without jumps */
-
 	uORB::Publication<vehicle_attitude_setpoint_s>	_vehicle_attitude_setpoint_pub;
 	orb_advert_t _mavlink_log_pub{nullptr};
 
@@ -114,21 +102,8 @@ class MulticopterPositionControl : public ModuleBase<MulticopterPositionControl>
 
 	int _task_failure_count{0};         /**< counter for task failures */
 
-	/**< vehicle-land-detection: initialze to landed */
-	vehicle_land_detected_s _vehicle_land_detected = {
-		.timestamp = 0,
-		.alt_max = -1.0f,
-		.freefall = false,
-		.ground_contact = true,
-		.maybe_landed = true,
-		.landed = true,
-	};
-
 	vehicle_control_mode_s	_control_mode{};		/**< vehicle control mode */
 	vehicle_local_position_s _local_pos{};			/**< vehicle local position */
-	home_position_s	_home_pos{};			/**< home position */
-	landing_gear_s _landing_gear{};
-	int8_t _old_landing_gear_position{landing_gear_s::GEAR_KEEP};
 
 	DEFINE_PARAMETERS(
 		// Position Control

diff --git a/src/modules/mc_pos_control/Takeoff/CMakeLists.txt b/src/modules/mc_pos_control/Takeoff/CMakeLists.txt
diff --git a/src/modules/mc_pos_control/Takeoff/Takeoff.cpp b/src/modules/mc_pos_control/Takeoff/Takeoff.cpp
diff --git a/src/modules/mc_pos_control/Takeoff/Takeoff.hpp b/src/modules/mc_pos_control/Takeoff/Takeoff.hpp