Rover: remove wheel_encoder_rpm

APMrover2/GCS_Mavlink.cpp

@@ -272,14 +272,6 @@ void Rover::send_pid_tuning(mavlink_channel_t chan)
     }
 }
 
-void Rover::send_wheel_encoder(mavlink_channel_t chan)
-{
-    // send wheel encoder data using rpm message
-    if (g2.wheel_encoder.enabled(0) || g2.wheel_encoder.enabled(1)) {
-        mavlink_msg_rpm_send(chan, wheel_encoder_rpm[0], wheel_encoder_rpm[1]);
-    }
-}
-
 void Rover::send_wheel_encoder_distance(mavlink_channel_t chan)
 {
     // send wheel encoder data using wheel_distance message

APMrover2/Log.cpp

@@ -313,10 +313,8 @@ struct PACKED log_WheelEncoder {
     uint64_t time_us;
     float distance_0;
     uint8_t quality_0;
-    float rpm_0;
     float distance_1;
     uint8_t quality_1;
-    float rpm_1;
 };
 
 // log wheel encoder information
@@ -331,10 +329,8 @@ void Rover::Log_Write_WheelEncoder()
         time_us     : AP_HAL::micros64(),
         distance_0  : g2.wheel_encoder.get_distance(0),
         quality_0   : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(0), 0.0f, 100.0f),
-        rpm_0       : wheel_encoder_rpm[0],
         distance_1  : g2.wheel_encoder.get_distance(1),
-        quality_1   : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(1), 0.0f, 100.0f),
-        rpm_1       : wheel_encoder_rpm[1]
+        quality_1   : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(1), 0.0f, 100.0f)
     };
     logger.WriteBlock(&pkt, sizeof(pkt));
 }
@@ -370,7 +366,7 @@ const LogStructure Rover::log_structure[] = {
     { LOG_ERROR_MSG, sizeof(log_Error),
       "ERR",   "QBB",         "TimeUS,Subsys,ECode", "s--", "F--" },
     { LOG_WHEELENCODER_MSG, sizeof(log_WheelEncoder),
-      "WENC",  "Qfbffbf", "TimeUS,Dist0,Qual0,RPM0,Dist1,Qual1,RPM1", "sm-qm-q", "F0--0--" },
+      "WENC",  "Qfbfb", "TimeUS,Dist0,Qual0,Dist1,Qual1", "sm-m-", "F0-0-" },
 };
 
 void Rover::log_init(void)

APMrover2/Rover.h

@@ -343,7 +343,6 @@ private:
     float wheel_encoder_last_distance_m[WHEELENCODER_MAX_INSTANCES];    // distance in meters at time of last update to EKF (for reporting to GCS)
     uint32_t wheel_encoder_last_update_ms[WHEELENCODER_MAX_INSTANCES];  // system time of last ping from each encoder
     uint32_t wheel_encoder_last_ekf_update_ms;                          // system time of last encoder data push to EKF
-    float wheel_encoder_rpm[WHEELENCODER_MAX_INSTANCES];                // for reporting to GCS
 
     // True when we are doing motor test
     bool motor_test;
@@ -446,7 +445,6 @@ private:
     void send_servo_out(mavlink_channel_t chan);
     void send_pid_tuning(mavlink_channel_t chan);
     void send_rpm(mavlink_channel_t chan);
-    void send_wheel_encoder(mavlink_channel_t chan);
     void send_wheel_encoder_distance(mavlink_channel_t chan);
 
     // Log.cpp

APMrover2/sensors.cpp

@@ -123,13 +123,6 @@ void Rover::update_wheel_encoder()
          * posOffset is the XYZ body frame position of the wheel hub (m)
          */
         EKF3.writeWheelOdom(delta_angle, delta_time, wheel_encoder_last_update_ms[i], g2.wheel_encoder.get_pos_offset(i), g2.wheel_encoder.get_wheel_radius(i));
-
-        // calculate rpm for reporting to GCS
-        if (is_positive(delta_time)) {
-            wheel_encoder_rpm[i] = (delta_angle / M_2PI) / (delta_time / 60.0f);
-        } else {
-            wheel_encoder_rpm[i] = 0.0f;
-        }
     }
 
     // record system time update for next iteration