Minor code style fixes, removed dead code

apps/mavlink/mavlink_receiver.c

@@ -225,28 +225,20 @@ handle_message(mavlink_message_t *msg)
 			uint8_t ml_mode = 0;
 			bool ml_armed = false;
 
-//			if (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED) {
-//				ml_armed = true;
-//			}
-
 			switch (quad_motors_setpoint.mode) {
 				case 0:
 					ml_armed = false;
-
 					break;
 				case 1:
-
 					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
 					ml_armed = true;
 
-				break;
+					break;
 				case 2:
-
-
 					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
 					ml_armed = true;
 
-				break;
+					break;
 				case 3:
 					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
 					break;
@@ -259,7 +251,6 @@ handle_message(mavlink_message_t *msg)
 			offboard_control_sp.p2 = quad_motors_setpoint.pitch[mavlink_system.sysid]  / (float)INT16_MAX;
 			offboard_control_sp.p3= quad_motors_setpoint.yaw[mavlink_system.sysid]    / (float)INT16_MAX;
 			offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid]/(float)UINT16_MAX;
-			//offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid] ;
 
 			if (quad_motors_setpoint.thrust[mavlink_system.sysid] ==0){
 				ml_armed = false;

apps/mavlink/orb_listener.c

@@ -141,12 +141,6 @@ l_sensor_combined(struct listener *l)
 
 	last_sensor_timestamp = raw.timestamp;
 
-	/* send raw imu data */
-	// mavlink_msg_raw_imu_send(MAVLINK_COMM_0, last_sensor_timestamp, raw.accelerometer_raw[0],
-	// 	raw.accelerometer_raw[1], raw.accelerometer_raw[2], raw.gyro_raw[0],
-	// 	raw.gyro_raw[1], raw.gyro_raw[2], raw.magnetometer_raw[0],
-	// 	raw.magnetometer_raw[1], raw.magnetometer_raw[2]);
-
 	/* mark individual fields as changed */
 	uint16_t fields_updated = 0;
 	static unsigned accel_counter = 0;
@@ -161,19 +155,19 @@ l_sensor_combined(struct listener *l)
 	}
 
 	if (gyro_counter != raw.gyro_counter) {
-		/* mark first three dimensions as changed */
+		/* mark second group dimensions as changed */
 		fields_updated |= (1 << 3) | (1 << 4) | (1 << 5);
 		gyro_counter = raw.gyro_counter;
 	}
 
 	if (mag_counter != raw.magnetometer_counter) {
-		/* mark first three dimensions as changed */
+		/* mark third group dimensions as changed */
 		fields_updated |= (1 << 6) | (1 << 7) | (1 << 8);
 		mag_counter = raw.magnetometer_counter;
 	}
 
 	if (baro_counter != raw.baro_counter) {
-		/* mark first three dimensions as changed */
+		/* mark last group dimensions as changed */
 		fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
 		baro_counter = raw.baro_counter;
 	}
@@ -187,8 +181,6 @@ l_sensor_combined(struct listener *l)
 		raw.baro_pres_mbar, 0 /* no diff pressure yet */,
 		raw.baro_alt_meter, raw.baro_temp_celcius,
 		fields_updated);
-	/* send pressure */
-	//mavlink_msg_scaled_pressure_send(MAVLINK_COMM_0, raw.timestamp / 1000, raw.baro_pres_mbar, raw.baro_alt_meter, raw.baro_temp_celcius * 100);
 
 	sensors_raw_counter++;
 }
@@ -631,8 +623,7 @@ uorb_receive_start(void)
 	pthread_attr_init(&uorb_attr);
 
 	/* Set stack size, needs more than 8000 bytes */
-	/* XXX verify, should not need anything like this much unless MAVLink really sucks */
-	pthread_attr_setstacksize(&uorb_attr, 8192);
+	pthread_attr_setstacksize(&uorb_attr, 4096);
 
 	pthread_t thread;
 	pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL);