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uORB delete unused vehicle_force_setpoint

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This commit is contained in:
Daniel Agar
2017-11-26 15:51:04 -05:00
parent d3c87c77d2
commit b8e24b5d2f
7 changed files with 4 additions and 35 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+1 -14
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@@ -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 */