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Velocity limit: remove duplicate message and if(true)

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This commit is contained in:
Matthias Grob 2023-11-15 09:49:31 +01:00
parent da24811ce1
commit ca6db94e39
2 changed files with 6 additions and 16 deletions
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8
msg/velocity_limits.msg
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@ -1,8 +0,0 @@
# Velocity and yaw rate limits for a multicopter position slow mode only
uint64 timestamp # time since system start (microseconds)
# absolute speeds, NAN means use default limit
float32 horizontal_velocity # [m/s]
float32 vertical_velocity # [m/s]
float32 yaw_rate # [rad/s]

14
src/modules/mavlink/mavlink_receiver.cpp
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@ -1220,14 +1220,12 @@ void MavlinkReceiver::handle_message_set_velocity_limits(mavlink_message_t *msg)
mavlink_set_velocity_limits_t mavlink_set_velocity_limits;
mavlink_msg_set_velocity_limits_decode(msg, &mavlink_set_velocity_limits);
if (true) {
velocity_limits_s velocity_limits{};
velocity_limits.horizontal_velocity = mavlink_set_velocity_limits.horizontal_speed_limit;
velocity_limits.vertical_velocity = mavlink_set_velocity_limits.vertical_speed_limit;
velocity_limits.yaw_rate = mavlink_set_velocity_limits.yaw_rate_limit;
velocity_limits.timestamp = hrt_absolute_time();
_velocity_limits_pub.publish(velocity_limits);
}
velocity_limits_s velocity_limits{};
velocity_limits.horizontal_velocity = mavlink_set_velocity_limits.horizontal_speed_limit;
velocity_limits.vertical_velocity = mavlink_set_velocity_limits.vertical_speed_limit;
velocity_limits.yaw_rate = mavlink_set_velocity_limits.yaw_rate_limit;
velocity_limits.timestamp = hrt_absolute_time();
_velocity_limits_pub.publish(velocity_limits);
}
void