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MavlinkReceiver: remove support for SET_ACTUATOR_CONTROL_TARGET

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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 b16f16598b
commit 27658354da
6 changed files with 0 additions and 200 deletions
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src/modules/mavlink/mavlink_main.cpp
-2
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@@ -1557,7 +1557,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("OBSTACLE_DISTANCE", 10.0f);
configure_stream_local("ODOMETRY", 30.0f);
configure_stream_local("ACTUATOR_CONTROL_TARGET0", 10.0f);
configure_stream_local("ADSB_VEHICLE", unlimited_rate);
configure_stream_local("ATTITUDE_QUATERNION", 50.0f);
configure_stream_local("ATTITUDE_TARGET", 10.0f);
@@ -1706,7 +1705,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("MOUNT_ORIENTATION", 10.0f);
configure_stream_local("ODOMETRY", 30.0f);
configure_stream_local("ACTUATOR_CONTROL_TARGET0", 30.0f);
configure_stream_local("ADSB_VEHICLE", unlimited_rate);
configure_stream_local("ALTITUDE", 10.0f);
configure_stream_local("ATTITUDE", 50.0f);
src/modules/mavlink/mavlink_messages.cpp
-5
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@@ -56,7 +56,6 @@
#include <uORB/SubscriptionMultiArray.hpp>
#include <uORB/topics/vehicle_status.h>
#include "streams/ACTUATOR_CONTROL_TARGET.hpp"
#include "streams/ACTUATOR_OUTPUT_STATUS.hpp"
#include "streams/ALTITUDE.hpp"
#include "streams/ATTITUDE.hpp"
@@ -370,10 +369,6 @@ static const StreamListItem streams_list[] = {
#if defined(OPTICAL_FLOW_RAD_HPP)
create_stream_list_item<MavlinkStreamOpticalFlowRad>(),
#endif // OPTICAL_FLOW_RAD_HPP
#if defined(ACTUATOR_CONTROL_TARGET_HPP)
create_stream_list_item<MavlinkStreamActuatorControlTarget<0> >(),
create_stream_list_item<MavlinkStreamActuatorControlTarget<1> >(),
#endif // ACTUATOR_CONTROL_TARGET_HPP
#if defined(NAMED_VALUE_FLOAT_HPP)
create_stream_list_item<MavlinkStreamNamedValueFloat>(),
#endif // NAMED_VALUE_FLOAT_HPP
src/modules/mavlink/mavlink_receiver.cpp
-68
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@@ -166,10 +166,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_set_attitude_target(msg);
break;
case MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET:
handle_message_set_actuator_control_target(msg);
break;
case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
handle_message_vision_position_estimate(msg);
break;
@@ -1202,70 +1198,6 @@ MavlinkReceiver::handle_message_set_position_target_global_int(mavlink_message_t
}
}
void
MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *msg)
{
// TODO
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
PX4_ERR("SET_ACTUATOR_CONTROL_TARGET not supported with lockstep enabled");
PX4_ERR("Please disable lockstep for actuator offboard control:");
PX4_ERR("https://docs.px4.io/main/en/simulation/#disable-lockstep-simulation");
return;
#endif
mavlink_set_actuator_control_target_t actuator_target;
mavlink_msg_set_actuator_control_target_decode(msg, &actuator_target);
if (_mavlink->get_forward_externalsp() &&
(mavlink_system.sysid == actuator_target.target_system || actuator_target.target_system == 0) &&
(mavlink_system.compid == actuator_target.target_component || actuator_target.target_component == 0)
) {
/* Ignore all setpoints except when controlling the gimbal(group_mlx==2) as we are setting raw actuators here */
//bool ignore_setpoints = bool(actuator_target.group_mlx != 2);
offboard_control_mode_s offboard_control_mode{};
offboard_control_mode.actuator = true;
offboard_control_mode.timestamp = hrt_absolute_time();
_offboard_control_mode_pub.publish(offboard_control_mode);
vehicle_status_s vehicle_status{};
_vehicle_status_sub.copy(&vehicle_status);
// Publish actuator controls only once in OFFBOARD
if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) {
actuator_controls_s actuator_controls{};
actuator_controls.timestamp = hrt_absolute_time();
/* Set duty cycles for the servos in the actuator_controls message */
for (size_t i = 0; i < 8; i++) {
actuator_controls.control[i] = actuator_target.controls[i];
}
switch (actuator_target.group_mlx) {
case 0:
_actuator_controls_pubs[0].publish(actuator_controls);
break;
case 1:
_actuator_controls_pubs[1].publish(actuator_controls);
break;
case 2:
_actuator_controls_pubs[2].publish(actuator_controls);
break;
case 3:
_actuator_controls_pubs[3].publish(actuator_controls);
break;
default:
break;
}
}
}
}
void
MavlinkReceiver::handle_message_set_gps_global_origin(mavlink_message_t *msg)
{
src/modules/mavlink/mavlink_receiver.h
-2
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@@ -187,7 +187,6 @@ private:
void handle_message_rc_channels(mavlink_message_t *msg);
void handle_message_rc_channels_override(mavlink_message_t *msg);
void handle_message_serial_control(mavlink_message_t *msg);
void handle_message_set_actuator_control_target(mavlink_message_t *msg);
void handle_message_set_attitude_target(mavlink_message_t *msg);
void handle_message_set_mode(mavlink_message_t *msg);
void handle_message_set_position_target_global_int(mavlink_message_t *msg);
@@ -288,7 +287,6 @@ private:
uint16_t _mavlink_status_last_packet_rx_drop_count{0};
// ORB publications
uORB::Publication<actuator_controls_s> _actuator_controls_pubs[3] {ORB_ID(actuator_controls_0), ORB_ID(actuator_controls_1), ORB_ID(actuator_controls_2)};
uORB::Publication<airspeed_s> _airspeed_pub{ORB_ID(airspeed)};
uORB::Publication<battery_status_s> _battery_pub{ORB_ID(battery_status)};
uORB::Publication<camera_status_s> _camera_status_pub{ORB_ID(camera_status)};
src/modules/mavlink/streams/ACTUATOR_CONTROL_TARGET.hpp
-121
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@@ -1,121 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef ACTUATOR_CONTROL_TARGET_HPP
#define ACTUATOR_CONTROL_TARGET_HPP
#include <uORB/topics/actuator_controls.h>
template <int N>
class MavlinkStreamActuatorControlTarget : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamActuatorControlTarget<N>(mavlink); }
static constexpr const char *get_name_static()
{
switch (N) {
case 0:
return "ACTUATOR_CONTROL_TARGET0";
case 1:
return "ACTUATOR_CONTROL_TARGET1";
case 2:
return "ACTUATOR_CONTROL_TARGET2";
}
return "ACTUATOR_CONTROL_TARGET";
}
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return (_act_ctrl_sub
&& _act_ctrl_sub->advertised()) ? (MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
explicit MavlinkStreamActuatorControlTarget(Mavlink *mavlink) : MavlinkStream(mavlink)
{
// XXX this can be removed once the multiplatform system remaps topics
switch (N) {
case 0:
_act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_0)};
break;
case 1:
_act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_1)};
break;
case 2:
_act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_2)};
break;
}
}
~MavlinkStreamActuatorControlTarget() override
{
delete _act_ctrl_sub;
}
uORB::Subscription *_act_ctrl_sub{nullptr};
bool send() override
{
actuator_controls_s act_ctrl;
if (_act_ctrl_sub && _act_ctrl_sub->update(&act_ctrl)) {
mavlink_actuator_control_target_t msg{};
msg.time_usec = act_ctrl.timestamp;
msg.group_mlx = N;
for (unsigned i = 0; i < sizeof(msg.controls) / sizeof(msg.controls[0]); i++) {
msg.controls[i] = act_ctrl.control[i];
}
mavlink_msg_actuator_control_target_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // ACTUATOR_CONTROL_TARGET_HPP
src/modules/mavlink/streams/VFR_HUD.hpp
-2
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@@ -97,8 +97,6 @@ private:
// VFR_HUD throttle should only be used for operator feedback.
// VTOLs switch between vehicle_thrust_setpoint_0 and vehicle_thrust_setpoint_1. During transition there isn't a
// a single throttle value, but this should still be a useful heuristic for operator awareness.
//
// Use ACTUATOR_CONTROL_TARGET if accurate states are needed.
msg.throttle = 100 * math::max(
-vehicle_thrust_setpoint_0.xyz[2],
vehicle_thrust_setpoint_1.xyz[0]);