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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/platforms/ros/nodes/mavlink/mavlink.cpp
+2 -8
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@@ -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>("vehicle_attitude_setpoint", 1)),
_pos_sp_triplet_pub(_n.advertise<position_setpoint_triplet>("position_setpoint_triplet", 1)),
_offboard_control_mode_pub(_n.advertise<offboard_control_mode>("offboard_control_mode", 1)),
_force_sp_pub(_n.advertise<vehicle_force_setpoint>("vehicle_force_setpoint", 1))
_offboard_control_mode_pub(_n.advertise<offboard_control_mode>("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 */
src/platforms/ros/nodes/mavlink/mavlink.h
-1
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@@ -48,7 +48,6 @@
#include <px4/vehicle_local_position.h>
#include <px4/vehicle_attitude_setpoint.h>
#include <px4/position_setpoint_triplet.h>
#include <px4/vehicle_force_setpoint.h>
#include <px4/offboard_control_mode.h>
namespace px4