uORB delete unused vehicle_force_setpoint

msg/CMakeLists.txt

@@ -110,7 +110,6 @@ set(msg_files
 	vehicle_command.msg
 	vehicle_command_ack.msg
 	vehicle_control_mode.msg
-	vehicle_force_setpoint.msg
 	vehicle_global_position.msg
 	vehicle_gps_position.msg
 	vehicle_land_detected.msg

msg/tools/uorb_rtps_message_ids.py

@@ -84,7 +84,7 @@ msg_id_map = {
     'vehicle_command_ack': 79,
     'vehicle_command': 80,
     'vehicle_control_mode': 81,
-    'vehicle_force_setpoint': 82,
+
     'vehicle_global_position': 83,
 
     'vehicle_gps_position': 85,

msg/vehicle_force_setpoint.msg

@@ -1,8 +0,0 @@
-# Definition of force (NED) setpoint uORB topic. Typically this can be used
-# by a position control app together with an attitude control app.
-
-
-float32 x		# in N NED
-float32 y		# in N NED
-float32 z		# in N NED
-float32 yaw		# right-hand rotation around downward axis (rad, equivalent to Tait-Bryan yaw)

src/modules/mavlink/mavlink_receiver.cpp

@@ -123,7 +123,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_global_vel_sp_pub(nullptr),
 	_att_sp_pub(nullptr),
 	_rates_sp_pub(nullptr),
-	_force_sp_pub(nullptr),
 	_pos_sp_triplet_pub(nullptr),
 	_att_pos_mocap_pub(nullptr),
 	_vision_position_pub(nullptr),
@@ -894,20 +893,8 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 			if (_control_mode.flag_control_offboard_enabled) {
 				if (is_force_sp && offboard_control_mode.ignore_position &&
 				    offboard_control_mode.ignore_velocity) {
-					/* The offboard setpoint is a force setpoint only, directly writing to the force
-					 * setpoint topic and not publishing the setpoint triplet topic */
-					struct vehicle_force_setpoint_s	force_sp;
-					force_sp.x = set_position_target_local_ned.afx;
-					force_sp.y = set_position_target_local_ned.afy;
-					force_sp.z = set_position_target_local_ned.afz;
 
-					//XXX: yaw
-					if (_force_sp_pub == nullptr) {
-						_force_sp_pub = orb_advertise(ORB_ID(vehicle_force_setpoint), &force_sp);
-
-					} else {
-						orb_publish(ORB_ID(vehicle_force_setpoint), _force_sp_pub, &force_sp);
-					}
+					PX4_WARN("force setpoint not supported");
 
 				} else {
 					/* It's not a pure force setpoint: publish to setpoint triplet  topic */

src/modules/mavlink/mavlink_receiver.h

@@ -71,7 +71,6 @@
 #include <uORB/topics/debug_vect.h>
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/battery_status.h>
-#include <uORB/topics/vehicle_force_setpoint.h>
 #include <uORB/topics/time_offset.h>
 #include <uORB/topics/distance_sensor.h>
 #include <uORB/topics/follow_target.h>
@@ -234,7 +233,6 @@ private:
 	orb_advert_t _global_vel_sp_pub;
 	orb_advert_t _att_sp_pub;
 	orb_advert_t _rates_sp_pub;
-	orb_advert_t _force_sp_pub;
 	orb_advert_t _pos_sp_triplet_pub;
 	orb_advert_t _att_pos_mocap_pub;
 	orb_advert_t _vision_position_pub;

src/platforms/ros/nodes/mavlink/mavlink.cpp

@@ -52,8 +52,7 @@ Mavlink::Mavlink(std::string mavlink_fcu_url) :
 	_v_local_pos_sub(_n.subscribe("vehicle_local_position", 1, &Mavlink::VehicleLocalPositionCallback, this)),
 	_v_att_sp_pub(_n.advertise<vehicle_attitude_setpoint>("vehicle_attitude_setpoint", 1)),
 	_pos_sp_triplet_pub(_n.advertise<position_setpoint_triplet>("position_setpoint_triplet", 1)),
-	_offboard_control_mode_pub(_n.advertise<offboard_control_mode>("offboard_control_mode", 1)),
-	_force_sp_pub(_n.advertise<vehicle_force_setpoint>("vehicle_force_setpoint", 1))
+	_offboard_control_mode_pub(_n.advertise<offboard_control_mode>("offboard_control_mode", 1))
 {
 	_link = mavconn::MAVConnInterface::open_url(mavlink_fcu_url);
 	_link->message_received.connect(boost::bind(&Mavlink::handle_msg, this, _1, _2, _3));
@@ -234,13 +233,8 @@ void Mavlink::handle_msg_set_position_target_local_ned(const mavlink_message_t *
 	    offboard_control_mode.ignore_velocity) {
 		/* The offboard setpoint is a force setpoint only, directly writing to the force
 		 * setpoint topic and not publishing the setpoint triplet topic */
-		vehicle_force_setpoint	force_sp;
-		force_sp.x = set_position_target_local_ned.afx;
-		force_sp.y = set_position_target_local_ned.afy;
-		force_sp.z = set_position_target_local_ned.afz;
-		//XXX: yaw
 
-		_force_sp_pub.publish(force_sp);
+		PX4_WARN("force setpoint not supported");
 
 	} else {
 		/* It's not a pure force setpoint: publish to setpoint triplet  topic */

src/platforms/ros/nodes/mavlink/mavlink.h

@@ -48,7 +48,6 @@
 #include <px4/vehicle_local_position.h>
 #include <px4/vehicle_attitude_setpoint.h>
 #include <px4/position_setpoint_triplet.h>
-#include <px4/vehicle_force_setpoint.h>
 #include <px4/offboard_control_mode.h>
 
 namespace px4