fw_att_control: revert torque&thrust setpoint additions

PX4 · Nov 28, 2019 · f45c17f · f45c17f
1 parent 75f1980
commit f45c17f
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Showing 2 changed files with 0 additions and 26 deletions.
diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
@@ -655,28 +655,6 @@ void FixedwingAttitudeControl::Run()
 			}
 
 			_actuators_2_pub.publish(_actuators_airframe);
-
-			/* publish thrust and torque setpoint */
-			if (!_vehicle_status.is_vtol
-			    || (_vehicle_status.is_vtol && (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING))
-			   ) {
-				vehicle_torque_setpoint_s v_torque_sp = {};
-				v_torque_sp.timestamp = hrt_absolute_time();
-				v_torque_sp.timestamp_sample = _att.timestamp;
-				v_torque_sp.xyz[0] = (PX4_ISFINITE(_actuators.control[0])) ? _actuators.control[0] : 0.0f;
-				v_torque_sp.xyz[1] = (PX4_ISFINITE(_actuators.control[1])) ? _actuators.control[1] : 0.0f;
-				v_torque_sp.xyz[2] = (PX4_ISFINITE(_actuators.control[2])) ? _actuators.control[2] : 0.0f;
-				_vehicle_torque_setpoint_pub.publish(v_torque_sp);
-
-				vehicle_thrust_setpoint_s v_thrust_sp = {};
-				v_thrust_sp.timestamp = hrt_absolute_time();
-				v_thrust_sp.timestamp_sample = _att.timestamp;
-				v_thrust_sp.xyz[0] = (PX4_ISFINITE(_actuators.control[3])) ? _actuators.control[3] : 0.0f;
-				v_thrust_sp.xyz[1] = 0.0f;
-				v_thrust_sp.xyz[2] = 0.0f;
-				_vehicle_thrust_setpoint_pub.publish(v_thrust_sp);
-
-			}
 		}
 	}
 

diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
@@ -66,8 +66,6 @@
 #include <uORB/topics/vehicle_land_detected.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_thrust_setpoint.h>
-#include <uORB/topics/vehicle_torque_setpoint.h>
 
 using matrix::Eulerf;
 using matrix::Quatf;
@@ -117,8 +115,6 @@ class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeContro
 	uORB::Publication<actuator_controls_s>		_actuators_2_pub{ORB_ID(actuator_controls_2)};		/**< actuator control group 1 setpoint (Airframe) */
 	uORB::Publication<vehicle_rates_setpoint_s>	_rate_sp_pub{ORB_ID(vehicle_rates_setpoint)};		/**< rate setpoint publication */
 	uORB::PublicationMulti<rate_ctrl_status_s>	_rate_ctrl_status_pub{ORB_ID(rate_ctrl_status)};	/**< rate controller status publication */
-	uORB::Publication<vehicle_thrust_setpoint_s>	_vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};		/**< vehicle_thrust_setpoint publication */
-	uORB::Publication<vehicle_torque_setpoint_s>	_vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};		/**< vehicle_torque_setpoint publication */
 
 	orb_id_t	_attitude_setpoint_id{nullptr};
 	orb_advert_t	_attitude_sp_pub{nullptr};	/**< attitude setpoint point */