delete vehicle_global_velocity_setpoint

msg/CMakeLists.txt

@@ -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

msg/vehicle_global_velocity_setpoint.msg

@@ -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

src/examples/mc_pos_control_multiplatform/mc_pos_control.cpp

@@ -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

@@ -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;
 

src/modules/logger/logger.cpp

@@ -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

@@ -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

@@ -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

@@ -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;

src/platforms/px4_includes.h

@@ -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