WEAK instead of ABI

paparazzi · Sep 29, 2023 · cc096e3 · cc096e3
1 parent dd0f831
commit cc096e3
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Showing 4 changed files with 2 additions and 45 deletions.
diff --git a/conf/abi.xml b/conf/abi.xml
@@ -248,10 +248,6 @@
       <field name="vel_sp" type="struct FloatVect3 *" unit="m/s"/>
     </message>
 
-    <message name="LIFT_D" id="37">
-      <field name="liftd" type="float"/>
-    </message>
-
   </msg_class>
 
 </protocol>
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c
@@ -178,17 +178,8 @@ static void vel_sp_cb(uint8_t sender_id, struct FloatVect3 *vel_sp);
 struct FloatVect3 indi_vel_sp = {0.0, 0.0, 0.0};
 float time_of_vel_sp = 0.0;
 
-#ifndef GUIDANCE_INDI_LIFT_D_ID
-#define GUIDANCE_INDI_LIFT_D_ID ABI_BROADCAST
-#endif
-abi_event lift_d_ev;
-static void lift_d_cb(uint8_t sender_id, float lift_d);
-float indi_lift_d_abi = 0;
-float time_of_lift_d = 0.0;
-
 void guidance_indi_propagate_filters(void);
 static void guidance_indi_calcg_wing(struct FloatMat33 *Gmat);
-static float guidance_indi_get_liftd(float pitch, float theta);
 
 #if PERIODIC_TELEMETRY
 #include "modules/datalink/telemetry.h"
@@ -217,7 +208,6 @@ void guidance_indi_init(void)
 {
   /*AbiBindMsgACCEL_SP(GUIDANCE_INDI_ACCEL_SP_ID, &accel_sp_ev, accel_sp_cb);*/
   AbiBindMsgVEL_SP(GUIDANCE_INDI_VEL_SP_ID, &vel_sp_ev, vel_sp_cb);
-  AbiBindMsgLIFT_D(GUIDANCE_INDI_LIFT_D_ID, &lift_d_ev, lift_d_cb);
 
   float tau = 1.0/(2.0*M_PI*filter_cutoff);
   float sample_time = 1.0/PERIODIC_FREQUENCY;
@@ -715,7 +705,7 @@ void guidance_indi_calcg_wing(struct FloatMat33 *Gmat) {
  *
  * @return The derivative of lift w.r.t. pitch
  */
-float guidance_indi_get_liftd(float airspeed, float theta) {
+float WEAK guidance_indi_get_liftd(float airspeed, float theta) {
   float liftd = 0.0;
 
   if(airspeed < 12) {
@@ -744,20 +734,6 @@ float guidance_indi_get_liftd(float airspeed, float theta) {
   return liftd;
 }
 
-/**
- * @brief Get the derivative of lift w.r.t. pitch from a ABI message
- *
- * @return The derivative of lift w.r.t. pitch
- */
-float guidance_indi_get_liftd_abi(void) {
-  float liftd = 0.0;
-  float dt = get_sys_time_float() - time_of_lift_d;
-  if (dt < 0.5) {
-    liftd = indi_lift_d_abi;
-  }
-  return liftd;
-}
-
 /**
  * ABI callback that obtains the velocity setpoint from a module
   */
@@ -769,14 +745,6 @@ static void vel_sp_cb(uint8_t sender_id __attribute__((unused)), struct FloatVec
   time_of_vel_sp = get_sys_time_float();
 }
 
-/**
- * ABI callback that obtains the liftd from a module
-  */
-static void lift_d_cb(uint8_t sender_id __attribute__((unused)), float lift_d)
-{
-  indi_lift_d_abi = lift_d;
-  time_of_lift_d = get_sys_time_float();
-}
 
 #if GUIDANCE_INDI_HYBRID_USE_AS_DEFAULT
 // guidance indi control function is implementing the default functions of guidance

diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.h
@@ -41,6 +41,7 @@
 
 extern void guidance_indi_init(void);
 extern void guidance_indi_enter(void);
+extern float guidance_indi_get_liftd(float pitch, float theta);
 
 enum GuidanceIndiHybrid_HMode {
   GUIDANCE_INDI_HYBRID_H_POS,

diff --git a/sw/airborne/modules/core/abi_sender_ids.h b/sw/airborne/modules/core/abi_sender_ids.h
@@ -624,12 +624,4 @@
 #define VEL_SP_FCR_ID 1 // Approach Moving Target
 #endif
 
-/*
- * IDs of LIFT_D senders
- */
-
-#ifndef LIFT_D_SCHED_ID
-#define LIFT_D_SCHED_ID 1
-#endif
-
 #endif /* ABI_SENDER_IDS_H */