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vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz)

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* attitude_estimator_q: get velocity from local position (if available)
This commit is contained in:
Daniel Agar
2020-03-11 23:57:43 -04:00
committed by GitHub
parent 5d33b9e999
commit a89b69b0ea
19 changed files with 98 additions and 79 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+3 -3
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@@ -62,7 +62,7 @@
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
@@ -97,7 +97,7 @@ private:
uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; /**< vehicle attitude setpoint */
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)}; /**< battery status subscription */
uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)}; /**< global position subscription */
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; /**< local position subscription */
uORB::Subscription _manual_sub{ORB_ID(manual_control_setpoint)}; /**< notification of manual control updates */
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< notification of parameter updates */
uORB::Subscription _rates_sp_sub{ORB_ID(vehicle_rates_setpoint)}; /**< vehicle rates setpoint */
@@ -120,7 +120,7 @@ private:
vehicle_attitude_s _att {}; /**< vehicle attitude setpoint */
vehicle_attitude_setpoint_s _att_sp {}; /**< vehicle attitude setpoint */
vehicle_control_mode_s _vcontrol_mode {}; /**< vehicle control mode */
vehicle_global_position_s _global_pos {}; /**< global position */
vehicle_local_position_s _local_pos {}; /**< local position */
vehicle_rates_setpoint_s _rates_sp {}; /* attitude rates setpoint */
vehicle_status_s _vehicle_status {}; /**< vehicle status */