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delete vehicle_global_velocity_setpoint

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This commit is contained in:
Daniel Agar 2017-06-24 20:08:31 -04:00
parent fc860140f1
commit f947205cbe
9 changed files with 0 additions and 63 deletions
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1
msg/CMakeLists.txt
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@ -115,7 +115,6 @@ set(msg_file_names
vehicle_control_mode.msg
vehicle_force_setpoint.msg
vehicle_global_position.msg
vehicle_global_velocity_setpoint.msg
vehicle_gps_position.msg
vehicle_land_detected.msg
vehicle_local_position.msg

4
msg/vehicle_global_velocity_setpoint.msg
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@ -1,4 +0,0 @@
# Velocity setpoint in NED frame
float32 vx # in m/s NED
float32 vy # in m/s NED
float32 vz # in m/s NED

16
src/examples/mc_pos_control_multiplatform/mc_pos_control.cpp
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@ -58,12 +58,10 @@ MulticopterPositionControlMultiplatform::MulticopterPositionControlMultiplatform
/* publications */
_att_sp_pub(nullptr),
_local_pos_sp_pub(nullptr),
_global_vel_sp_pub(nullptr),
/* outgoing messages */
_att_sp_msg(),
_local_pos_sp_msg(),
_global_vel_sp_msg(),
_n(_appState),
@ -116,8 +114,6 @@ _R()
_pos_sp_triplet = _n.subscribe<px4_position_setpoint_triplet>
(&MulticopterPositionControlMultiplatform::handle_position_setpoint_triplet, this, 0);
_local_pos_sp = _n.subscribe<px4_vehicle_local_position_setpoint>(0);
_global_vel_sp = _n.subscribe<px4_vehicle_global_velocity_setpoint>(0);
_params.pos_p.zero();
_params.vel_p.zero();
@ -700,18 +696,6 @@ void MulticopterPositionControlMultiplatform::handle_vehicle_attitude(const px4
_vel_sp(2) = _params.land_speed;
}
_global_vel_sp_msg.data().vx = _vel_sp(0);
_global_vel_sp_msg.data().vy = _vel_sp(1);
_global_vel_sp_msg.data().vz = _vel_sp(2);
/* publish velocity setpoint */
if (_global_vel_sp_pub != nullptr) {
_global_vel_sp_pub->publish(_global_vel_sp_msg);
} else {
_global_vel_sp_pub = _n.advertise<px4_vehicle_global_velocity_setpoint>();
}
if (_control_mode->data().flag_control_climb_rate_enabled || _control_mode->data().flag_control_velocity_enabled) {
/* reset integrals if needed */
if (_control_mode->data().flag_control_climb_rate_enabled) {

5
src/examples/mc_pos_control_multiplatform/mc_pos_control.h
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@ -88,9 +88,6 @@ protected:
Publisher<px4_vehicle_attitude_setpoint> *_att_sp_pub; /**< attitude setpoint publication */
Publisher<px4_vehicle_local_position_setpoint> *_local_pos_sp_pub; /**< vehicle local position setpoint publication */
Publisher<px4_vehicle_global_velocity_setpoint>
*_global_vel_sp_pub; /**< vehicle global velocity setpoint publication */
Subscriber<px4_vehicle_attitude> *_att; /**< vehicle attitude */
Subscriber<px4_vehicle_control_mode> *_control_mode; /**< vehicle control mode */
@ -100,11 +97,9 @@ protected:
Subscriber<px4_vehicle_local_position> *_local_pos; /**< local position */
Subscriber<px4_position_setpoint_triplet> *_pos_sp_triplet; /**< local position */
Subscriber<px4_vehicle_local_position_setpoint> *_local_pos_sp; /**< local position */
Subscriber<px4_vehicle_global_velocity_setpoint> *_global_vel_sp; /**< local position */
px4_vehicle_attitude_setpoint _att_sp_msg;
px4_vehicle_local_position_setpoint _local_pos_sp_msg;
px4_vehicle_global_velocity_setpoint _global_vel_sp_msg;
px4::NodeHandle _n;

1
src/modules/logger/logger.cpp
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@ -576,7 +576,6 @@ void Logger::add_default_topics()
add_topic("vehicle_local_position", 100);
add_topic("vehicle_local_position_setpoint", 100);
add_topic("vehicle_global_position", 200);
add_topic("vehicle_global_velocity_setpoint", 200);
add_topic("vehicle_vision_position");
add_topic("vehicle_vision_attitude");
add_topic("battery_status", 300);

1
src/modules/mavlink/mavlink_receiver.h
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@ -56,7 +56,6 @@
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/att_pos_mocap.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>

18
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -61,7 +61,6 @@
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
@ -121,7 +120,6 @@ private:
int _home_pos_sub; /**< home position */
orb_advert_t _att_sp_pub; /**< attitude setpoint publication */
orb_advert_t _local_pos_sp_pub; /**< vehicle local position setpoint publication */
orb_advert_t _global_vel_sp_pub; /**< vehicle global velocity setpoint publication */
orb_id_t _attitude_setpoint_id;
@ -134,7 +132,6 @@ private:
struct vehicle_local_position_s _local_pos; /**< vehicle local position */
struct position_setpoint_triplet_s _pos_sp_triplet; /**< vehicle global position setpoint triplet */
struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position setpoint */
struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */
struct home_position_s _home_pos; /**< home position */
control::BlockParamFloat _manual_thr_min; /**< minimal throttle output when flying in manual mode */
@ -394,7 +391,6 @@ MulticopterPositionControl::MulticopterPositionControl() :
/* publications */
_att_sp_pub(nullptr),
_local_pos_sp_pub(nullptr),
_global_vel_sp_pub(nullptr),
_attitude_setpoint_id(nullptr),
_vehicle_status{},
_vehicle_land_detected{},
@ -405,7 +401,6 @@ MulticopterPositionControl::MulticopterPositionControl() :
_local_pos{},
_pos_sp_triplet{},
_local_pos_sp{},
_global_vel_sp{},
_home_pos{},
_manual_thr_min(this, "MANTHR_MIN"),
_manual_thr_max(this, "MANTHR_MAX"),
@ -1782,19 +1777,6 @@ MulticopterPositionControl::calculate_velocity_setpoint(float dt)
/* limit vertical velocity to the current ramp value */
_vel_sp(2) = math::max(_vel_sp(2), -_takeoff_vel_limit);
}
/* publish velocity setpoint */
_global_vel_sp.timestamp = hrt_absolute_time();
_global_vel_sp.vx = _vel_sp(0);
_global_vel_sp.vy = _vel_sp(1);
_global_vel_sp.vz = _vel_sp(2);
if (_global_vel_sp_pub != nullptr) {
orb_publish(ORB_ID(vehicle_global_velocity_setpoint), _global_vel_sp_pub, &_global_vel_sp);
} else {
_global_vel_sp_pub = orb_advertise(ORB_ID(vehicle_global_velocity_setpoint), &_global_vel_sp);
}
}
void

13
src/modules/sdlog2/sdlog2.c
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@ -79,7 +79,6 @@
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/satellite_info.h>
#include <uORB/topics/att_pos_mocap.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/differential_pressure.h>
@ -1186,7 +1185,6 @@ int sdlog2_thread_main(int argc, char *argv[])
struct differential_pressure_s diff_pres;
struct airspeed_s airspeed;
struct esc_status_s esc;
struct vehicle_global_velocity_setpoint_s global_vel_sp;
struct battery_status_s battery;
struct telemetry_status_s telemetry;
struct distance_sensor_s distance_sensor;
@ -1302,7 +1300,6 @@ int sdlog2_thread_main(int argc, char *argv[])
int rc_sub;
int airspeed_sub;
int esc_sub;
int global_vel_sp_sub;
int battery_sub;
int telemetry_subs[ORB_MULTI_MAX_INSTANCES];
int distance_sensor_sub;
@ -1348,7 +1345,6 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.rc_sub = -1;
subs.airspeed_sub = -1;
subs.esc_sub = -1;
subs.global_vel_sp_sub = -1;
subs.battery_sub = -1;
subs.distance_sensor_sub = -1;
subs.estimator_status_sub = -1;
@ -2069,15 +2065,6 @@ int sdlog2_thread_main(int argc, char *argv[])
}
}
/* --- GLOBAL VELOCITY SETPOINT --- */
if (copy_if_updated(ORB_ID(vehicle_global_velocity_setpoint), &subs.global_vel_sp_sub, &buf.global_vel_sp)) {
log_msg.msg_type = LOG_GVSP_MSG;
log_msg.body.log_GVSP.vx = buf.global_vel_sp.vx;
log_msg.body.log_GVSP.vy = buf.global_vel_sp.vy;
log_msg.body.log_GVSP.vz = buf.global_vel_sp.vz;
LOGBUFFER_WRITE_AND_COUNT(GVSP);
}
/* --- BATTERY --- */
if (copy_if_updated(ORB_ID(battery_status), &subs.battery_sub, &buf.battery)) {
log_msg.msg_type = LOG_BATT_MSG;

4
src/platforms/px4_includes.h
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@ -62,7 +62,6 @@
#include <px4_parameter_update.h>
#include <px4_vehicle_status.h>
#include <px4_vehicle_local_position_setpoint.h>
#include <px4_vehicle_global_velocity_setpoint.h>
#include <px4_vehicle_local_position.h>
#include <px4_position_setpoint_triplet.h>
#include <px4_offboard_control_mode.h>
@ -88,7 +87,6 @@
#include <platforms/nuttx/px4_messages/px4_parameter_update.h>
#include <platforms/nuttx/px4_messages/px4_vehicle_status.h>
#include <platforms/nuttx/px4_messages/px4_vehicle_local_position_setpoint.h>
#include <platforms/nuttx/px4_messages/px4_vehicle_global_velocity_setpoint.h>
#include <platforms/nuttx/px4_messages/px4_vehicle_local_position.h>
#include <platforms/nuttx/px4_messages/px4_position_setpoint_triplet.h>
#include <platforms/nuttx/px4_messages/px4_offboard_control_mode.h>
@ -119,7 +117,6 @@
#include <platforms/posix/px4_messages/px4_parameter_update.h>
#include <platforms/posix/px4_messages/px4_vehicle_status.h>
#include <platforms/posix/px4_messages/px4_vehicle_local_position_setpoint.h>
#include <platforms/posix/px4_messages/px4_vehicle_global_velocity_setpoint.h>
#include <platforms/posix/px4_messages/px4_vehicle_local_position.h>
#include <platforms/posix/px4_messages/px4_position_setpoint_triplet.h>
#endif
@ -146,7 +143,6 @@
#include <platforms/qurt/px4_messages/px4_parameter_update.h>
#include <platforms/qurt/px4_messages/px4_vehicle_status.h>
#include <platforms/qurt/px4_messages/px4_vehicle_local_position_setpoint.h>
#include <platforms/qurt/px4_messages/px4_vehicle_global_velocity_setpoint.h>
#include <platforms/qurt/px4_messages/px4_vehicle_local_position.h>
#include <platforms/qurt/px4_messages/px4_position_setpoint_triplet.h>
#endif