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Navigator: remove support for DO_SET_SERVO

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-03-16 11:55:45 +01:00
committed by Beat Küng
parent a1812dbde0
commit 17cd65a239
6 changed files with 2 additions and 47 deletions
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src/modules/navigator/mission_block.cpp
+2 -16
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@@ -70,7 +70,6 @@ MissionBlock::is_mission_item_reached_or_completed()
switch (_mission_item.nav_cmd) {
// Action Commands that doesn't have timeout completes instantaneously
case NAV_CMD_DO_SET_SERVO:
case NAV_CMD_DO_SET_ACTUATOR:
case NAV_CMD_DO_LAND_START:
case NAV_CMD_DO_TRIGGER_CONTROL:
@@ -556,21 +555,8 @@ MissionBlock::issue_command(const mission_item_s &item)
return;
}
if (item.nav_cmd == NAV_CMD_DO_SET_SERVO) {
PX4_INFO("DO_SET_SERVO command");
// XXX: we should issue a vehicle command and handle this somewhere else
actuator_controls_s actuators = {};
actuators.timestamp = hrt_absolute_time();
// params[0] actuator number to be set 0..5 (corresponds to AUX outputs 1..6)
// params[1] new value for selected actuator in ms 900...2000
actuators.control[(int)item.params[0]] = 1.0f / 2000 * -item.params[1];
_actuator_pub.publish(actuators);
} else if (item.nav_cmd == NAV_CMD_DO_WINCH ||
item.nav_cmd == NAV_CMD_DO_GRIPPER) {
if (item.nav_cmd == NAV_CMD_DO_WINCH ||
item.nav_cmd == NAV_CMD_DO_GRIPPER) {
// Initiate Payload Deployment
vehicle_command_s vcmd = {};
vcmd.command = item.nav_cmd;