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Remove uorb topics exclusively used for avoidance

Browse Source 
- TrajectoryBezier.msg
- TrajectoryWaypoint.msg
- VehicleTrajectoryBezier.msg
- VehicleTrajectoryWaypoint.msg

Additionally remove TRAJECTORY_REPRESENTATION_WAYPOINTS mavlink stream.

Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2025-01-10 13:11:23 +01:00
committed by Silvan Fuhrer
parent b7b6d45e18
commit b916a96e00
14 changed files with 0 additions and 296 deletions
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src/modules/mavlink/mavlink_receiver.cpp
-66
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@@ -256,14 +256,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_tunnel(msg);
break;
case MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER:
handle_message_trajectory_representation_bezier(msg);
break;
case MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS:
handle_message_trajectory_representation_waypoints(msg);
break;
case MAVLINK_MSG_ID_ONBOARD_COMPUTER_STATUS:
handle_message_onboard_computer_status(msg);
break;
@@ -1988,64 +1980,6 @@ MavlinkReceiver::handle_message_tunnel(mavlink_message_t *msg)
}
void
MavlinkReceiver::handle_message_trajectory_representation_bezier(mavlink_message_t *msg)
{
mavlink_trajectory_representation_bezier_t trajectory;
mavlink_msg_trajectory_representation_bezier_decode(msg, &trajectory);
vehicle_trajectory_bezier_s trajectory_bezier{};
trajectory_bezier.timestamp = _mavlink_timesync.sync_stamp(trajectory.time_usec);
for (int i = 0; i < vehicle_trajectory_bezier_s::NUMBER_POINTS; ++i) {
trajectory_bezier.control_points[i].position[0] = trajectory.pos_x[i];
trajectory_bezier.control_points[i].position[1] = trajectory.pos_y[i];
trajectory_bezier.control_points[i].position[2] = trajectory.pos_z[i];
trajectory_bezier.control_points[i].delta = trajectory.delta[i];
trajectory_bezier.control_points[i].yaw = trajectory.pos_yaw[i];
}
trajectory_bezier.bezier_order = math::min(trajectory.valid_points, vehicle_trajectory_bezier_s::NUMBER_POINTS);
_trajectory_bezier_pub.publish(trajectory_bezier);
}
void
MavlinkReceiver::handle_message_trajectory_representation_waypoints(mavlink_message_t *msg)
{
mavlink_trajectory_representation_waypoints_t trajectory;
mavlink_msg_trajectory_representation_waypoints_decode(msg, &trajectory);
vehicle_trajectory_waypoint_s trajectory_waypoint{};
const int number_valid_points = math::min(trajectory.valid_points, vehicle_trajectory_waypoint_s::NUMBER_POINTS);
for (int i = 0; i < number_valid_points; ++i) {
trajectory_waypoint.waypoints[i].position[0] = trajectory.pos_x[i];
trajectory_waypoint.waypoints[i].position[1] = trajectory.pos_y[i];
trajectory_waypoint.waypoints[i].position[2] = trajectory.pos_z[i];
trajectory_waypoint.waypoints[i].velocity[0] = trajectory.vel_x[i];
trajectory_waypoint.waypoints[i].velocity[1] = trajectory.vel_y[i];
trajectory_waypoint.waypoints[i].velocity[2] = trajectory.vel_z[i];
trajectory_waypoint.waypoints[i].acceleration[0] = trajectory.acc_x[i];
trajectory_waypoint.waypoints[i].acceleration[1] = trajectory.acc_y[i];
trajectory_waypoint.waypoints[i].acceleration[2] = trajectory.acc_z[i];
trajectory_waypoint.waypoints[i].yaw = trajectory.pos_yaw[i];
trajectory_waypoint.waypoints[i].yaw_speed = trajectory.vel_yaw[i];
trajectory_waypoint.waypoints[i].point_valid = true;
trajectory_waypoint.waypoints[i].type = UINT8_MAX;
}
trajectory_waypoint.timestamp = hrt_absolute_time();
_trajectory_waypoint_pub.publish(trajectory_waypoint);
}
void
MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
{