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uORB delete unused vehicle_force_setpoint

This commit is contained in:
Daniel Agar 2017-11-26 15:51:04 -05:00
parent d3c87c77d2
commit b8e24b5d2f
7 changed files with 4 additions and 35 deletions
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1
msg/CMakeLists.txt
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@ -110,7 +110,6 @@ set(msg_files
vehicle_command.msg
vehicle_command_ack.msg
vehicle_control_mode.msg
vehicle_force_setpoint.msg
vehicle_global_position.msg
vehicle_gps_position.msg
vehicle_land_detected.msg

2
msg/tools/uorb_rtps_message_ids.py
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@ -84,7 +84,7 @@ msg_id_map = {
'vehicle_command_ack': 79,
'vehicle_command': 80,
'vehicle_control_mode': 81,
'vehicle_force_setpoint': 82,
'vehicle_global_position': 83,
'vehicle_gps_position': 85,

8
msg/vehicle_force_setpoint.msg
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@ -1,8 +0,0 @@
# Definition of force (NED) setpoint uORB topic. Typically this can be used
# by a position control app together with an attitude control app.
float32 x # in N NED
float32 y # in N NED
float32 z # in N NED
float32 yaw # right-hand rotation around downward axis (rad, equivalent to Tait-Bryan yaw)

15
src/modules/mavlink/mavlink_receiver.cpp
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@ -123,7 +123,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_global_vel_sp_pub(nullptr),
_att_sp_pub(nullptr),
_rates_sp_pub(nullptr),
_force_sp_pub(nullptr),
_pos_sp_triplet_pub(nullptr),
_att_pos_mocap_pub(nullptr),
_vision_position_pub(nullptr),
@ -894,20 +893,8 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
if (_control_mode.flag_control_offboard_enabled) {
if (is_force_sp && offboard_control_mode.ignore_position &&
offboard_control_mode.ignore_velocity) {
/* The offboard setpoint is a force setpoint only, directly writing to the force
* setpoint topic and not publishing the setpoint triplet topic */
struct vehicle_force_setpoint_s force_sp;
force_sp.x = set_position_target_local_ned.afx;
force_sp.y = set_position_target_local_ned.afy;
force_sp.z = set_position_target_local_ned.afz;
//XXX: yaw
if (_force_sp_pub == nullptr) {
_force_sp_pub = orb_advertise(ORB_ID(vehicle_force_setpoint), &force_sp);
} else {
orb_publish(ORB_ID(vehicle_force_setpoint), _force_sp_pub, &force_sp);
}
PX4_WARN("force setpoint not supported");
} else {
/* It's not a pure force setpoint: publish to setpoint triplet topic */

2
src/modules/mavlink/mavlink_receiver.h
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@ -71,7 +71,6 @@
#include <uORB/topics/debug_vect.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/vehicle_force_setpoint.h>
#include <uORB/topics/time_offset.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/follow_target.h>
@ -234,7 +233,6 @@ private:
orb_advert_t _global_vel_sp_pub;
orb_advert_t _att_sp_pub;
orb_advert_t _rates_sp_pub;
orb_advert_t _force_sp_pub;
orb_advert_t _pos_sp_triplet_pub;
orb_advert_t _att_pos_mocap_pub;
orb_advert_t _vision_position_pub;

10
src/platforms/ros/nodes/mavlink/mavlink.cpp
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@ -52,8 +52,7 @@ Mavlink::Mavlink(std::string mavlink_fcu_url) :
_v_local_pos_sub(_n.subscribe("vehicle_local_position", 1, &Mavlink::VehicleLocalPositionCallback, this)),
_v_att_sp_pub(_n.advertise<vehicle_attitude_setpoint>("vehicle_attitude_setpoint", 1)),
_pos_sp_triplet_pub(_n.advertise<position_setpoint_triplet>("position_setpoint_triplet", 1)),
_offboard_control_mode_pub(_n.advertise<offboard_control_mode>("offboard_control_mode", 1)),
_force_sp_pub(_n.advertise<vehicle_force_setpoint>("vehicle_force_setpoint", 1))
_offboard_control_mode_pub(_n.advertise<offboard_control_mode>("offboard_control_mode", 1))
{
_link = mavconn::MAVConnInterface::open_url(mavlink_fcu_url);
_link->message_received.connect(boost::bind(&Mavlink::handle_msg, this, _1, _2, _3));
@ -234,13 +233,8 @@ void Mavlink::handle_msg_set_position_target_local_ned(const mavlink_message_t *
offboard_control_mode.ignore_velocity) {
/* The offboard setpoint is a force setpoint only, directly writing to the force
* setpoint topic and not publishing the setpoint triplet topic */
vehicle_force_setpoint force_sp;
force_sp.x = set_position_target_local_ned.afx;
force_sp.y = set_position_target_local_ned.afy;
force_sp.z = set_position_target_local_ned.afz;
//XXX: yaw
_force_sp_pub.publish(force_sp);
PX4_WARN("force setpoint not supported");
} else {
/* It's not a pure force setpoint: publish to setpoint triplet topic */

1
src/platforms/ros/nodes/mavlink/mavlink.h
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@ -48,7 +48,6 @@
#include <px4/vehicle_local_position.h>
#include <px4/vehicle_attitude_setpoint.h>
#include <px4/position_setpoint_triplet.h>
#include <px4/vehicle_force_setpoint.h>
#include <px4/offboard_control_mode.h>
namespace px4