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remove unused trajectory_bezier message

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Martina
2018-07-12 16:36:11 -04:00
committed by Daniel Agar
parent 5cd0da95cc
commit e7cf2c5675
4 changed files with 0 additions and 52 deletions
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src/modules/mavlink/mavlink_receiver.cpp
-23
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@@ -138,7 +138,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_manual_pub(nullptr),
_obstacle_distance_pub(nullptr),
_trajectory_waypoint_pub(nullptr),
_trajectory_bezier_pub(nullptr),
_land_detector_pub(nullptr),
_follow_target_pub(nullptr),
_landing_target_pose_pub(nullptr),
@@ -1706,28 +1705,6 @@ MavlinkReceiver::handle_message_trajectory(mavlink_message_t *msg)
} else {
orb_publish(ORB_ID(vehicle_trajectory_waypoint), _trajectory_waypoint_pub, &trajectory_waypoint);
}
} else if (trajectory.type == trajectory_bezier_s::MAV_TRAJECTORY_REPRESENTATION_BEZIER) {
struct trajectory_bezier_s trajectory_bezier = {};
trajectory_bezier.timestamp = hrt_absolute_time();
trajectory_bezier.type = trajectory.type;
memcpy(trajectory_bezier.point_0, trajectory.point_1, sizeof(trajectory_bezier.point_0));
memcpy(trajectory_bezier.point_1, trajectory.point_2, sizeof(trajectory_bezier.point_1));
memcpy(trajectory_bezier.point_2, trajectory.point_3, sizeof(trajectory_bezier.point_2));
memcpy(trajectory_bezier.point_3, trajectory.point_4, sizeof(trajectory_bezier.point_3));
memcpy(trajectory_bezier.point_4, trajectory.point_5, sizeof(trajectory_bezier.point_4));
memcpy(trajectory_bezier.point_valid, trajectory.point_valid, sizeof(trajectory_bezier.point_valid));
if (_trajectory_bezier_pub == nullptr) {
_trajectory_bezier_pub = orb_advertise(ORB_ID(trajectory_bezier), &trajectory_bezier);
} else {
orb_publish(ORB_ID(trajectory_bezier), _trajectory_bezier_pub, &trajectory_bezier);
}
}
}