From b8e24b5d2fa35d8d5edc8b5ed98776b25cd68a86 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sun, 26 Nov 2017 15:51:04 -0500 Subject: [PATCH] uORB delete unused vehicle_force_setpoint --- msg/CMakeLists.txt | 1 - msg/tools/uorb_rtps_message_ids.py | 2 +- msg/vehicle_force_setpoint.msg | 8 -------- src/modules/mavlink/mavlink_receiver.cpp | 15 +-------------- src/modules/mavlink/mavlink_receiver.h | 2 -- src/platforms/ros/nodes/mavlink/mavlink.cpp | 10 ++-------- src/platforms/ros/nodes/mavlink/mavlink.h | 1 - 7 files changed, 4 insertions(+), 35 deletions(-) delete mode 100644 msg/vehicle_force_setpoint.msg diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index 9f6e1282fd..b061b1b06b 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -110,7 +110,6 @@ set(msg_files vehicle_command.msg vehicle_command_ack.msg vehicle_control_mode.msg - vehicle_force_setpoint.msg vehicle_global_position.msg vehicle_gps_position.msg vehicle_land_detected.msg diff --git a/msg/tools/uorb_rtps_message_ids.py b/msg/tools/uorb_rtps_message_ids.py index e64aa22316..9d983a8cbe 100644 --- a/msg/tools/uorb_rtps_message_ids.py +++ b/msg/tools/uorb_rtps_message_ids.py @@ -84,7 +84,7 @@ msg_id_map = { 'vehicle_command_ack': 79, 'vehicle_command': 80, 'vehicle_control_mode': 81, - 'vehicle_force_setpoint': 82, + 'vehicle_global_position': 83, 'vehicle_gps_position': 85, diff --git a/msg/vehicle_force_setpoint.msg b/msg/vehicle_force_setpoint.msg deleted file mode 100644 index 9e2322005d..0000000000 --- a/msg/vehicle_force_setpoint.msg +++ /dev/null @@ -1,8 +0,0 @@ -# Definition of force (NED) setpoint uORB topic. Typically this can be used -# by a position control app together with an attitude control app. - - -float32 x # in N NED -float32 y # in N NED -float32 z # in N NED -float32 yaw # right-hand rotation around downward axis (rad, equivalent to Tait-Bryan yaw) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 65e0ec05cb..e0c248eb9b 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -123,7 +123,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _global_vel_sp_pub(nullptr), _att_sp_pub(nullptr), _rates_sp_pub(nullptr), - _force_sp_pub(nullptr), _pos_sp_triplet_pub(nullptr), _att_pos_mocap_pub(nullptr), _vision_position_pub(nullptr), @@ -894,20 +893,8 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t if (_control_mode.flag_control_offboard_enabled) { if (is_force_sp && offboard_control_mode.ignore_position && offboard_control_mode.ignore_velocity) { - /* The offboard setpoint is a force setpoint only, directly writing to the force - * setpoint topic and not publishing the setpoint triplet topic */ - struct vehicle_force_setpoint_s force_sp; - force_sp.x = set_position_target_local_ned.afx; - force_sp.y = set_position_target_local_ned.afy; - force_sp.z = set_position_target_local_ned.afz; - //XXX: yaw - if (_force_sp_pub == nullptr) { - _force_sp_pub = orb_advertise(ORB_ID(vehicle_force_setpoint), &force_sp); - - } else { - orb_publish(ORB_ID(vehicle_force_setpoint), _force_sp_pub, &force_sp); - } + PX4_WARN("force setpoint not supported"); } else { /* It's not a pure force setpoint: publish to setpoint triplet topic */ diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 73c99c1bdc..e548d805ba 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -71,7 +71,6 @@ #include #include #include -#include #include #include #include @@ -234,7 +233,6 @@ private: orb_advert_t _global_vel_sp_pub; orb_advert_t _att_sp_pub; orb_advert_t _rates_sp_pub; - orb_advert_t _force_sp_pub; orb_advert_t _pos_sp_triplet_pub; orb_advert_t _att_pos_mocap_pub; orb_advert_t _vision_position_pub; diff --git a/src/platforms/ros/nodes/mavlink/mavlink.cpp b/src/platforms/ros/nodes/mavlink/mavlink.cpp index e015266809..91e1785241 100644 --- a/src/platforms/ros/nodes/mavlink/mavlink.cpp +++ b/src/platforms/ros/nodes/mavlink/mavlink.cpp @@ -52,8 +52,7 @@ Mavlink::Mavlink(std::string mavlink_fcu_url) : _v_local_pos_sub(_n.subscribe("vehicle_local_position", 1, &Mavlink::VehicleLocalPositionCallback, this)), _v_att_sp_pub(_n.advertise("vehicle_attitude_setpoint", 1)), _pos_sp_triplet_pub(_n.advertise("position_setpoint_triplet", 1)), - _offboard_control_mode_pub(_n.advertise("offboard_control_mode", 1)), - _force_sp_pub(_n.advertise("vehicle_force_setpoint", 1)) + _offboard_control_mode_pub(_n.advertise("offboard_control_mode", 1)) { _link = mavconn::MAVConnInterface::open_url(mavlink_fcu_url); _link->message_received.connect(boost::bind(&Mavlink::handle_msg, this, _1, _2, _3)); @@ -234,13 +233,8 @@ void Mavlink::handle_msg_set_position_target_local_ned(const mavlink_message_t * offboard_control_mode.ignore_velocity) { /* The offboard setpoint is a force setpoint only, directly writing to the force * setpoint topic and not publishing the setpoint triplet topic */ - vehicle_force_setpoint force_sp; - force_sp.x = set_position_target_local_ned.afx; - force_sp.y = set_position_target_local_ned.afy; - force_sp.z = set_position_target_local_ned.afz; - //XXX: yaw - _force_sp_pub.publish(force_sp); + PX4_WARN("force setpoint not supported"); } else { /* It's not a pure force setpoint: publish to setpoint triplet topic */ diff --git a/src/platforms/ros/nodes/mavlink/mavlink.h b/src/platforms/ros/nodes/mavlink/mavlink.h index 47b684adc2..779095455a 100644 --- a/src/platforms/ros/nodes/mavlink/mavlink.h +++ b/src/platforms/ros/nodes/mavlink/mavlink.h @@ -48,7 +48,6 @@ #include #include #include -#include #include namespace px4