From 440ebfde029dbe7707fa2ace7a833787f78460ab Mon Sep 17 00:00:00 2001
From: TSC21 <n.marques21@hotmail.com>
Date: Thu, 12 Jul 2018 21:53:58 +0100
Subject: [PATCH] remove att_pos_mocap uORB topics
---
msg/CMakeLists.txt | 1 -
msg/att_pos_mocap.msg | 10 ----------
.../attitude_estimator_q/attitude_estimator_q_main.cpp | 8 ++++----
src/modules/mavlink/mavlink_messages.cpp | 5 ++---
src/modules/mavlink/mavlink_receiver.h | 1 -
src/modules/sdlog2/sdlog2.c | 3 +--
6 files changed, 7 insertions(+), 21 deletions(-)
delete mode 100644 msg/att_pos_mocap.msg
diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 4355a4d820..6ff6d5893d 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -38,7 +38,6 @@ set(msg_files
actuator_outputs.msg
adc_report.msg
airspeed.msg
- att_pos_mocap.msg
battery_status.msg
camera_capture.msg
camera_trigger.msg
diff --git a/msg/att_pos_mocap.msg b/msg/att_pos_mocap.msg
deleted file mode 100644
index 3651697036..0000000000
--- a/msg/att_pos_mocap.msg
+++ /dev/null
@@ -1,10 +0,0 @@
-uint64 timestamp # time since system start (microseconds)
-uint32 id # ID of the estimator, commonly the component ID of the incoming message
-
-uint64 timestamp_received # timestamp when the estimate was received
-
-float32[4] q # Estimated attitude as quaternion
-
-float32 x # X position in meters in NED earth-fixed frame
-float32 y # Y position in meters in NED earth-fixed frame
-float32 z # Z position in meters in NED earth-fixed frame (negative altitude)
diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
index 9804891792..42cfef0c65 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -52,12 +52,12 @@
#include <systemlib/err.h>
#include <parameters/param.h>
#include <perf/perf_counter.h>
-#include <uORB/topics/att_pos_mocap.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_magnetometer.h>
+#include <uORB/topics/vehicle_odometry.h>
extern "C" __EXPORT int attitude_estimator_q_main(int argc, char *argv[]);
@@ -263,7 +263,7 @@ void AttitudeEstimatorQ::task_main()
_sensors_sub = orb_subscribe(ORB_ID(sensor_combined));
_vision_sub = orb_subscribe(ORB_ID(vehicle_vision_attitude));
- _mocap_sub = orb_subscribe(ORB_ID(att_pos_mocap));
+ _mocap_sub = orb_subscribe(ORB_ID(vehicle_mocap_odometry));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_magnetometer_sub = orb_subscribe(ORB_ID(vehicle_magnetometer));
@@ -369,9 +369,9 @@ void AttitudeEstimatorQ::task_main()
orb_check(_mocap_sub, &mocap_updated);
if (mocap_updated) {
- att_pos_mocap_s mocap;
+ vehicle_odometry_s mocap;
- if (orb_copy(ORB_ID(att_pos_mocap), _mocap_sub, &mocap) == PX4_OK) {
+ if (orb_copy(ORB_ID(vehicle_mocap_odometry), _mocap_sub, &mocap) == PX4_OK) {
Dcmf Rmoc = Quatf(mocap.q);
Vector3f v(1.0f, 0.0f, 0.4f);
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 8853de9cca..0d09a294fb 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -58,7 +58,6 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/airspeed.h>
-#include <uORB/topics/att_pos_mocap.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/camera_trigger.h>
#include <uORB/topics/camera_capture.h>
@@ -2410,13 +2409,13 @@ private:
protected:
explicit MavlinkStreamAttPosMocap(Mavlink *mavlink) : MavlinkStream(mavlink),
- _mocap_sub(_mavlink->add_orb_subscription(ORB_ID(att_pos_mocap))),
+ _mocap_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_mocap_odometry))),
_mocap_time(0)
{}
bool send(const hrt_abstime t)
{
- att_pos_mocap_s mocap;
+ vehicle_odometry_s mocap;
if (_mocap_sub->update(&_mocap_time, &mocap)) {
mavlink_att_pos_mocap_t msg = {};
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index eca09d73d6..0fddef7dc6 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -48,7 +48,6 @@
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
-#include <uORB/topics/att_pos_mocap.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/collision_report.h>
#include <uORB/topics/debug_key_value.h>
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 74a753e60d..98d57f1762 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -79,7 +79,6 @@
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_odometry.h>
#include <uORB/topics/satellite_info.h>
-#include <uORB/topics/att_pos_mocap.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/differential_pressure.h>
@@ -1813,7 +1812,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- MOCAP ATTITUDE AND POSITION --- */
- if (copy_if_updated(ORB_ID(att_pos_mocap), &subs.mocap_odom_sub, &buf.mocap_odom)) {
+ if (copy_if_updated(ORB_ID(vehicle_mocap_odometry), &subs.mocap_odom_sub, &buf.mocap_odom)) {
log_msg.msg_type = LOG_MOCP_MSG;
log_msg.body.log_MOCP.qw = buf.mocap_odom.q[0];
log_msg.body.log_MOCP.qx = buf.mocap_odom.q[1];
--
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