msg: remove unused vehicle_actuator_setpoint topic

msg/CMakeLists.txt

@@ -164,7 +164,6 @@ set(msg_files
 	ulog_stream.msg
 	ulog_stream_ack.msg
 	vehicle_acceleration.msg
-	vehicle_actuator_setpoint.msg
 	vehicle_air_data.msg
 	vehicle_angular_acceleration.msg
 	vehicle_angular_acceleration_setpoint.msg

msg/vehicle_actuator_setpoint.msg

@@ -1,6 +0,0 @@
-uint64 timestamp                   # time since system start (microseconds)
-uint64 timestamp_sample            # the timestamp the data this control response is based on was sampled
-
-uint8 NUM_ACTUATOR_SETPOINT = 16
-
-float32[16] actuator

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp

@@ -44,7 +44,6 @@
 #include <ControlAllocation/ControlAllocation.hpp>
 
 #include <matrix/matrix/math.hpp>
-#include <uORB/topics/vehicle_actuator_setpoint.h>
 
 class ActuatorEffectiveness
 {

src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp

@@ -70,7 +70,6 @@
 #pragma once
 
 #include <matrix/matrix/math.hpp>
-#include <uORB/topics/vehicle_actuator_setpoint.h>
 
 class ControlAllocation
 {

src/modules/control_allocator/ControlAllocator.cpp

@@ -335,13 +335,10 @@ ControlAllocator::Run()
 		_control_allocation->allocate();
 
 		// Publish actuator setpoint and allocator status
-		publish_actuator_setpoint();
+		publish_actuator_controls();
 		publish_control_allocator_status();
 
-		// Publish on legacy topics for compatibility with
-		// the current mixer system and multicopter controller
-		// TODO: remove
-		publish_legacy_actuator_controls();
+
 	}
 
 	perf_end(_loop_perf);
@@ -373,19 +370,6 @@ ControlAllocator::update_effectiveness_matrix_if_needed(bool force)
 	}
 }
 
-void
-ControlAllocator::publish_actuator_setpoint()
-{
-	matrix::Vector<float, NUM_ACTUATORS> actuator_sp = _control_allocation->getActuatorSetpoint();
-
-	vehicle_actuator_setpoint_s vehicle_actuator_setpoint{};
-	vehicle_actuator_setpoint.timestamp = hrt_absolute_time();
-	vehicle_actuator_setpoint.timestamp_sample = _timestamp_sample;
-	actuator_sp.copyTo(vehicle_actuator_setpoint.actuator);
-
-	_vehicle_actuator_setpoint_pub.publish(vehicle_actuator_setpoint);
-}
-
 void
 ControlAllocator::publish_control_allocator_status()
 {
@@ -434,7 +418,7 @@ ControlAllocator::publish_control_allocator_status()
 }
 
 void
-ControlAllocator::publish_legacy_actuator_controls()
+ControlAllocator::publish_actuator_controls()
 {
 	actuator_motors_s actuator_motors;
 	actuator_motors.timestamp = hrt_absolute_time();

src/modules/control_allocator/ControlAllocator.hpp

@@ -67,7 +67,6 @@
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_torque_setpoint.h>
 #include <uORB/topics/vehicle_thrust_setpoint.h>
-#include <uORB/topics/vehicle_actuator_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
 
 class ControlAllocator : public ModuleBase<ControlAllocator>, public ModuleParams, public px4::WorkItem
@@ -108,10 +107,9 @@ private:
 
 	void update_effectiveness_matrix_if_needed(bool force = false);
 
-	void publish_actuator_setpoint();
 	void publish_control_allocator_status();
 
-	void publish_legacy_actuator_controls();
+	void publish_actuator_controls();
 
 	enum class AllocationMethod {
 		NONE = -1,
@@ -137,7 +135,6 @@ private:
 	uORB::SubscriptionCallbackWorkItem _vehicle_thrust_setpoint_sub{this, ORB_ID(vehicle_thrust_setpoint)};	 /**< vehicle thrust setpoint subscription */
 
 	// Outputs
-	uORB::Publication<vehicle_actuator_setpoint_s>	_vehicle_actuator_setpoint_pub{ORB_ID(vehicle_actuator_setpoint)};	/**< actuator setpoint publication */
 	uORB::Publication<control_allocator_status_s>	_control_allocator_status_pub{ORB_ID(control_allocator_status)};	/**< actuator setpoint publication */
 
 	uORB::Publication<actuator_motors_s>	_actuator_motors_pub{ORB_ID(actuator_motors)};

src/modules/logger/logged_topics.cpp

@@ -198,7 +198,6 @@ void LoggedTopics::add_default_topics()
 	if (sys_ctrl_alloc >= 1) {
 		add_topic("actuator_motors", 100);
 		add_topic("actuator_servos", 100);
-		add_topic("vehicle_actuator_setpoint", 20);
 		add_topic("vehicle_angular_acceleration", 20);
 		add_topic("vehicle_angular_acceleration_setpoint", 20);
 		add_topic("vehicle_thrust_setpoint", 20);