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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/modules/logger/logger.cpp
-1
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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);
src/modules/mavlink/mavlink_receiver.h
-1
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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>
src/modules/mc_pos_control/mc_pos_control_main.cpp
-18
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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
src/modules/sdlog2/sdlog2.c
-13
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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;