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Code Issues Wiki Activity

Drop the old HIL

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This commit is contained in:
JuliooCesarMDM 2022-08-01 19:48:04 -03:00
parent 1b003cc861
commit 71ab3c405f
8 changed files with 1 additions and 184 deletions
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10
src/main/fc/fc_msp.c
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@ -72,7 +72,6 @@
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/hil.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/servos.h"
@ -398,15 +397,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteData(dst, shortGitRevision, GIT_SHORT_REVISION_LENGTH);
break;
#ifdef HIL
case MSP_HIL_STATE:
sbufWriteU16(dst, hilToSIM.pidCommand[ROLL]);
sbufWriteU16(dst, hilToSIM.pidCommand[PITCH]);
sbufWriteU16(dst, hilToSIM.pidCommand[YAW]);
sbufWriteU16(dst, hilToSIM.pidCommand[THROTTLE]);
break;
#endif
case MSP_SENSOR_STATUS:
sbufWriteU8(dst, isHardwareHealthy() ? 1 : 0);
sbufWriteU8(dst, getHwGyroStatus());