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flight_mode_manager: remove command ack for VEHICLE_CMD_DO_ORBIT 

Already acked in commander
This commit is contained in:
Beat Küng 2022-10-26 15:54:57 +02:00 committed by Matthias Grob
parent 9e7db0ed54
commit c1f9824396
2 changed files with 0 additions and 10 deletions
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8
src/modules/flight_mode_manager/FlightModeManager.cpp
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@ -296,14 +296,6 @@ void FlightModeManager::handleCommand()
}
}
// send back acknowledgment
vehicle_command_ack_s command_ack{};
command_ack.command = command.command;
command_ack.result = cmd_result;
command_ack.target_system = command.source_system;
command_ack.target_component = command.source_component;
command_ack.timestamp = hrt_absolute_time();
_vehicle_command_ack_pub.publish(command_ack);
} else if (_current_task.task) {
// check for other commands not related to task switching

2
src/modules/flight_mode_manager/FlightModeManager.hpp
View File

@ -50,7 +50,6 @@
#include <uORB/topics/trajectory_setpoint.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
@ -150,7 +149,6 @@ private:
uORB::Publication<landing_gear_s> _landing_gear_pub{ORB_ID(landing_gear)};
uORB::Publication<trajectory_setpoint_s> _trajectory_setpoint_pub{ORB_ID(trajectory_setpoint)};
uORB::Publication<vehicle_command_ack_s> _vehicle_command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Publication<vehicle_constraints_s> _vehicle_constraints_pub{ORB_ID(vehicle_constraints)};
DEFINE_PARAMETERS(