From 42dd9b5063a5abf247214f233356ea012081b5c0 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Mon, 17 Oct 2022 16:38:33 +0200 Subject: [PATCH] position_setpoint.msg: remove unused velocity_frame field Signed-off-by: Silvan Fuhrer --- msg/position_setpoint.msg | 4 ---- src/modules/navigator/mission.cpp | 1 - 2 files changed, 5 deletions(-) diff --git a/msg/position_setpoint.msg b/msg/position_setpoint.msg index c0c836c0fa..9e0864a9ad 100644 --- a/msg/position_setpoint.msg +++ b/msg/position_setpoint.msg @@ -9,9 +9,6 @@ uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC) -uint8 VELOCITY_FRAME_LOCAL_NED = 1 # MAV_FRAME_LOCAL_NED -uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED - bool valid # true if setpoint is valid uint8 type # setpoint type to adjust behavior of position controller @@ -19,7 +16,6 @@ float32 vx # local velocity setpoint in m/s in NED float32 vy # local velocity setpoint in m/s in NED float32 vz # local velocity setpoint in m/s in NED bool velocity_valid # true if local velocity setpoint valid -uint8 velocity_frame # to set velocity setpoints in NED or body bool alt_valid # do not set for 3D position control. Set to true if you want z-position control while doing vx,vy velocity control. float64 lat # latitude, in deg diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 5946e06a8f..768216596a 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -1883,7 +1883,6 @@ bool Mission::position_setpoint_equal(const position_setpoint_s *p1, const posit (fabsf(p1->vy - p2->vy) < FLT_EPSILON) && (fabsf(p1->vz - p2->vz) < FLT_EPSILON) && (p1->velocity_valid == p2->velocity_valid) && - (p1->velocity_frame == p2->velocity_frame) && (p1->alt_valid == p2->alt_valid) && (fabs(p1->lat - p2->lat) < DBL_EPSILON) && (fabs(p1->lon - p2->lon) < DBL_EPSILON) &&