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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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src/examples/mc_pos_control_multiplatform/mc_pos_control.cpp
-16
View File
@@ -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) {
src/examples/mc_pos_control_multiplatform/mc_pos_control.h
-5
View File
@@ -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;