diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 9f6e1282fde72d730637f791b185e157f52fc6bf..b061b1b06b5a5c90d7c94d42e1fbc7fad7a80cdd 100644
--- a/msg/CMakeLists.txt
+++ b/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
diff --git a/msg/tools/uorb_rtps_message_ids.py b/msg/tools/uorb_rtps_message_ids.py
index e64aa223162245df37a42cb75dde9abb154c23ab..9d983a8cbe9621bcc0e6ad11fb7a98988d870e2b 100644
--- a/msg/tools/uorb_rtps_message_ids.py
+++ b/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,
diff --git a/msg/vehicle_force_setpoint.msg b/msg/vehicle_force_setpoint.msg
deleted file mode 100644
index 9e2322005d8e3a4664664b9bf8b46b61b95af9dc..0000000000000000000000000000000000000000
--- a/msg/vehicle_force_setpoint.msg
+++ /dev/null
@@ -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)
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 65e0ec05cb5b6ce8f42fa9b01f713473cc61159d..e0c248eb9b2e86914df2ef1d86df087f78789e15 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/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 */
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 73c99c1bdcaf62c7d4f5c8d4f21088bc61cf8097..e548d805ba9c19978fa97e15a658d252dab79285 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/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;
diff --git a/src/platforms/ros/nodes/mavlink/mavlink.cpp b/src/platforms/ros/nodes/mavlink/mavlink.cpp
index e0152668095a9c7add8d263477961af6aefd07a1..91e17852414767041478ceb0fa57d59efd2b553e 100644
--- a/src/platforms/ros/nodes/mavlink/mavlink.cpp
+++ b/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 */
diff --git a/src/platforms/ros/nodes/mavlink/mavlink.h b/src/platforms/ros/nodes/mavlink/mavlink.h
index 47b684adc28c188935f4efc747f92a07f885c7cd..779095455a281d01998f28684521c453fcd1ddfe 100644
--- a/src/platforms/ros/nodes/mavlink/mavlink.h
+++ b/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