From ddd410e9d8aa114a2cba2c864863f757af08d3df Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Wed, 11 Dec 2024 20:27:59 +0100
Subject: [PATCH] RpmControl: remove status message because it by now only
 contains redundant information

---
 msg/CMakeLists.txt                                   |  1 -
 msg/RpmControlStatus.msg                             |  7 -------
 .../ActuatorEffectiveness/RpmControl.hpp             | 12 ------------
 3 files changed, 20 deletions(-)
 delete mode 100644 msg/RpmControlStatus.msg

diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index d8d2393c00..7abae77293 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -181,7 +181,6 @@ set(msg_files
 	RoverMecanumSetpoint.msg
 	RoverMecanumStatus.msg
 	Rpm.msg
-	RpmControlStatus.msg
 	RtlStatus.msg
 	RtlTimeEstimate.msg
 	SatelliteInfo.msg
diff --git a/msg/RpmControlStatus.msg b/msg/RpmControlStatus.msg
deleted file mode 100644
index c1ed3dd997..0000000000
--- a/msg/RpmControlStatus.msg
+++ /dev/null
@@ -1,7 +0,0 @@
-uint64 timestamp # time since system start (microseconds)
-
-float32 rpm_raw # measured rpm
-float32 rpm_estimate # filtered rpm
-float32 rpm_setpoint # desired rpm
-
-float32 output
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/RpmControl.hpp b/src/modules/control_allocator/ActuatorEffectiveness/RpmControl.hpp
index 9bdbf562b2..9af733995d 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/RpmControl.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/RpmControl.hpp
@@ -50,7 +50,6 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/pwm_input.h>
 #include <uORB/topics/rpm.h>
-#include <uORB/topics/rpm_control_status.h>
 
 using namespace time_literals;
 
@@ -77,7 +76,6 @@ public:
 
 			if (_rpm_sub.copy(&rpm)) {
 				_rpm_estimate = rpm.rpm_estimate;
-				_rpm_raw = rpm.rpm_raw;
 				_timestamp_last_rpm_measurement = rpm.timestamp;
 			}
 		}
@@ -102,24 +100,14 @@ public:
 
 		float output = _pid.update(_rpm_estimate, dt, true);
 
-		rpm_control_status_s rpm_control_status{};
-		rpm_control_status.rpm_raw = _rpm_raw;
-		rpm_control_status.rpm_estimate = _rpm_estimate;;
-		rpm_control_status.rpm_setpoint = _param_ca_heli_rpm_sp.get();
-		rpm_control_status.output = output;
-		rpm_control_status.timestamp = hrt_absolute_time();
-		_rpm_control_status_pub.publish(rpm_control_status);
-
 		return output;
 	}
 
 private:
 	static constexpr float RPM_MAX_VALUE = 1800.f;
 	uORB::Subscription _rpm_sub{ORB_ID(rpm)};
-	uORB::Publication<rpm_control_status_s> _rpm_control_status_pub{ORB_ID(rpm_control_status)};
 
 	float _rpm_estimate{0.f};
-	float _rpm_raw{0.f};
 	float _spoolup_progress{0.f};
 	PID _pid;
 	hrt_abstime _timestamp_last_rpm_measurement{0};