From 51ca01ce040a58decfa8af138de12752b37abefd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Tue, 20 Mar 2018 11:19:54 +0100
Subject: [PATCH] FixedwingAttitudeControl: remove SuperBlock dependency

---
 .../fw_att_control/FixedwingAttitudeControl.cpp       | 11 +++++------
 .../fw_att_control/FixedwingAttitudeControl.hpp       |  6 ++----
 2 files changed, 7 insertions(+), 10 deletions(-)

diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
index 0338c81c4c..07d36f2786 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
@@ -41,8 +41,7 @@
 extern "C" __EXPORT int fw_att_control_main(int argc, char *argv[]);
 
 FixedwingAttitudeControl::FixedwingAttitudeControl() :
-	SuperBlock(nullptr, "FW_ATT"),
-	_sub_airspeed(ORB_ID(airspeed), 0, 0, &getSubscriptions()),
+	_airspeed_sub(ORB_ID(airspeed)),
 
 	/* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "fwa_dt")),
@@ -527,7 +526,7 @@ void FixedwingAttitudeControl::run()
 
 			matrix::Eulerf euler_angles(R);
 
-			updateSubscriptions();
+			_airspeed_sub.update();
 			vehicle_setpoint_poll();
 			vehicle_control_mode_poll();
 			vehicle_manual_poll();
@@ -563,12 +562,12 @@ void FixedwingAttitudeControl::run()
 				float airspeed;
 
 				/* if airspeed is non-finite or not valid or if we are asked not to control it, we assume the normal average speed */
-				const bool airspeed_valid = PX4_ISFINITE(_sub_airspeed.get().indicated_airspeed_m_s)
-							    && (hrt_elapsed_time(&_sub_airspeed.get().timestamp) < 1e6);
+				const bool airspeed_valid = PX4_ISFINITE(_airspeed_sub.get().indicated_airspeed_m_s)
+							    && (hrt_elapsed_time(&_airspeed_sub.get().timestamp) < 1e6);
 
 				if (airspeed_valid) {
 					/* prevent numerical drama by requiring 0.5 m/s minimal speed */
-					airspeed = math::max(0.5f, _sub_airspeed.get().indicated_airspeed_m_s);
+					airspeed = math::max(0.5f, _airspeed_sub.get().indicated_airspeed_m_s);
 
 				} else {
 					airspeed = _parameters.airspeed_trim;
diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
index e790b44c6a..1c09d1a7d1 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
@@ -31,8 +31,6 @@
  *
  ****************************************************************************/
 
-#include <controllib/block/BlockParam.hpp>
-#include <controllib/blocks.hpp>
 #include <px4_module.h>
 #include <drivers/drv_hrt.h>
 #include <ecl/attitude_fw/ecl_pitch_controller.h>
@@ -68,7 +66,7 @@ using matrix::Quatf;
 
 using uORB::Subscription;
 
-class FixedwingAttitudeControl final : public control::SuperBlock, public ModuleBase<FixedwingAttitudeControl>
+class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeControl>
 {
 public:
 	FixedwingAttitudeControl();
@@ -124,7 +122,7 @@ private:
 	vehicle_rates_setpoint_s		_rates_sp {};		/* attitude rates setpoint */
 	vehicle_status_s			_vehicle_status {};	/**< vehicle status */
 
-	Subscription<airspeed_s>			_sub_airspeed;
+	Subscription<airspeed_s>			_airspeed_sub;
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 	perf_counter_t	_nonfinite_input_perf;		/**< performance counter for non finite input */