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msg: remove unused vehicle_actuator_setpoint topic

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This commit is contained in:
Beat Küng
2021-11-10 10:26:09 +01:00
committed by Daniel Agar
parent 52a2ef34fd
commit a0e43bca96
7 changed files with 4 additions and 33 deletions
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src/modules/control_allocator/ControlAllocator.cpp
+3 -19
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@@ -335,13 +335,10 @@ ControlAllocator::Run()
_control_allocation->allocate();
// Publish actuator setpoint and allocator status
publish_actuator_setpoint();
publish_actuator_controls();
publish_control_allocator_status();
// Publish on legacy topics for compatibility with
// the current mixer system and multicopter controller
// TODO: remove
publish_legacy_actuator_controls();
}
perf_end(_loop_perf);
@@ -373,19 +370,6 @@ ControlAllocator::update_effectiveness_matrix_if_needed(bool force)
}
}
void
ControlAllocator::publish_actuator_setpoint()
{
matrix::Vector<float, NUM_ACTUATORS> actuator_sp = _control_allocation->getActuatorSetpoint();
vehicle_actuator_setpoint_s vehicle_actuator_setpoint{};
vehicle_actuator_setpoint.timestamp = hrt_absolute_time();
vehicle_actuator_setpoint.timestamp_sample = _timestamp_sample;
actuator_sp.copyTo(vehicle_actuator_setpoint.actuator);
_vehicle_actuator_setpoint_pub.publish(vehicle_actuator_setpoint);
}
void
ControlAllocator::publish_control_allocator_status()
{
@@ -434,7 +418,7 @@ ControlAllocator::publish_control_allocator_status()
}
void
ControlAllocator::publish_legacy_actuator_controls()
ControlAllocator::publish_actuator_controls()
{
actuator_motors_s actuator_motors;
actuator_motors.timestamp = hrt_absolute_time();