From cfd4e64b02e69455f5b2237163c5a9f6eb479f84 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Thu, 23 Jun 2022 18:08:17 +0200
Subject: [PATCH] uuv_pos_control: remove practically unused manual control
 subscription

---
 src/modules/uuv_pos_control/uuv_pos_control.cpp | 10 ----------
 src/modules/uuv_pos_control/uuv_pos_control.hpp |  3 ---
 2 files changed, 13 deletions(-)

diff --git a/src/modules/uuv_pos_control/uuv_pos_control.cpp b/src/modules/uuv_pos_control/uuv_pos_control.cpp
index 5e6fe38817..1f9a385187 100644
--- a/src/modules/uuv_pos_control/uuv_pos_control.cpp
+++ b/src/modules/uuv_pos_control/uuv_pos_control.cpp
@@ -195,16 +195,6 @@ void UUVPOSControl::Run()
 		}
 	}
 
-	/* Manual Control mode (e.g. gamepad,...) - raw feedthrough no assistance */
-	if (_manual_control_setpoint_sub.update(&_manual_control_setpoint)) {
-		// This should be copied even if not in manual mode. Otherwise, the poll(...) call will keep
-		// returning immediately and this loop will eat up resources.
-		if (_vcontrol_mode.flag_control_manual_enabled && !_vcontrol_mode.flag_control_rates_enabled) {
-			/* manual/direct control */
-		}
-
-	}
-
 	/* Only publish if any of the proper modes are enabled */
 	if (_vcontrol_mode.flag_control_manual_enabled ||
 	    _vcontrol_mode.flag_control_attitude_enabled) {
diff --git a/src/modules/uuv_pos_control/uuv_pos_control.hpp b/src/modules/uuv_pos_control/uuv_pos_control.hpp
index 744f68ad34..ee03c9a870 100644
--- a/src/modules/uuv_pos_control/uuv_pos_control.hpp
+++ b/src/modules/uuv_pos_control/uuv_pos_control.hpp
@@ -60,7 +60,6 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
 #include <uORB/Publication.hpp>
-#include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/trajectory_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
@@ -104,14 +103,12 @@ private:
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};	/**< current vehicle attitude */
-	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};	/**< notification of manual control updates */
 	uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
 	uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)};		/**< vehicle status subscription */
 
 	uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};
 
 	//actuator_controls_s _actuators {}; /**< actuator control inputs */
-	manual_control_setpoint_s _manual_control_setpoint {}; /**< r/c channel data */
 	vehicle_attitude_s _vehicle_attitude {}; /**< vehicle attitude */
 	trajectory_setpoint_s _trajectory_setpoint{}; /**< vehicle position setpoint */
 	vehicle_control_mode_s _vcontrol_mode {}; /**< vehicle control mode */