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msg: remove unused vehicle_actuator_setpoint topic

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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.hpp
+1 -4
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@@ -67,7 +67,6 @@
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_torque_setpoint.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/vehicle_actuator_setpoint.h>
#include <uORB/topics/vehicle_status.h>
class ControlAllocator : public ModuleBase<ControlAllocator>, public ModuleParams, public px4::WorkItem
@@ -108,10 +107,9 @@ private:
void update_effectiveness_matrix_if_needed(bool force = false);
void publish_actuator_setpoint();
void publish_control_allocator_status();
void publish_legacy_actuator_controls();
void publish_actuator_controls();
enum class AllocationMethod {
NONE = -1,
@@ -137,7 +135,6 @@ private:
uORB::SubscriptionCallbackWorkItem _vehicle_thrust_setpoint_sub{this, ORB_ID(vehicle_thrust_setpoint)}; /**< vehicle thrust setpoint subscription */
// Outputs
uORB::Publication<vehicle_actuator_setpoint_s> _vehicle_actuator_setpoint_pub{ORB_ID(vehicle_actuator_setpoint)}; /**< actuator setpoint publication */
uORB::Publication<control_allocator_status_s> _control_allocator_status_pub{ORB_ID(control_allocator_status)}; /**< actuator setpoint publication */
uORB::Publication<actuator_motors_s> _actuator_motors_pub{ORB_ID(actuator_motors)};