rover: deprecate guidance status messages

PX4 · Dec 9, 2024 · 04d6fda · 04d6fda
1 parent d4f196d
commit 04d6fda
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Showing 11 changed files with 3 additions and 68 deletions.
diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
@@ -184,13 +184,10 @@ set(msg_files
 	RcParameterMap.msg
 	RegisterExtComponentReply.msg
 	RegisterExtComponentRequest.msg
-	RoverAckermannGuidanceStatus.msg
 	RoverAckermannSetpoint.msg
 	RoverAckermannStatus.msg
-	RoverDifferentialGuidanceStatus.msg
 	RoverDifferentialSetpoint.msg
 	RoverDifferentialStatus.msg
-	RoverMecanumGuidanceStatus.msg
 	RoverMecanumSetpoint.msg
 	RoverMecanumStatus.msg
 	Rpm.msg

diff --git a/msg/RoverAckermannGuidanceStatus.msg b/msg/RoverAckermannGuidanceStatus.msg
diff --git a/msg/RoverDifferentialGuidanceStatus.msg b/msg/RoverDifferentialGuidanceStatus.msg
diff --git a/msg/RoverMecanumGuidanceStatus.msg b/msg/RoverMecanumGuidanceStatus.msg
diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
@@ -104,13 +104,10 @@ void LoggedTopics::add_default_topics()
 	add_topic("position_setpoint_triplet", 200);
 	add_optional_topic("px4io_status");
 	add_topic("radio_status");
-	add_optional_topic("rover_ackermann_guidance_status", 100);
 	add_optional_topic("rover_ackermann_setpoint", 100);
 	add_optional_topic("rover_ackermann_status", 100);
-	add_optional_topic("rover_differential_guidance_status", 100);
 	add_optional_topic("rover_differential_setpoint", 100);
 	add_optional_topic("rover_differential_status", 100);
-	add_optional_topic("rover_mecanum_guidance_status", 100);
 	add_optional_topic("rover_mecanum_setpoint", 100);
 	add_optional_topic("rover_mecanum_status", 100);
 	add_topic("rtl_time_estimate", 1000);

diff --git a/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.cpp b/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.cpp
@@ -40,7 +40,6 @@ using namespace time_literals;
 
 RoverAckermannGuidance::RoverAckermannGuidance(ModuleParams *parent) : ModuleParams(parent)
 {
-	_rover_ackermann_guidance_status_pub.advertise();
 	updateParams();
 }
 
@@ -90,14 +89,9 @@ void RoverAckermannGuidance::computeGuidance(const float vehicle_forward_speed,
 
 	}
 
-	// Publish ackermann controller status (logging)
-	hrt_abstime timestamp = hrt_absolute_time();
-	_rover_ackermann_guidance_status.timestamp = timestamp;
-	_rover_ackermann_guidance_status_pub.publish(_rover_ackermann_guidance_status);
-
 	// Publish speed and steering setpoints
 	rover_ackermann_setpoint_s rover_ackermann_setpoint{};
-	rover_ackermann_setpoint.timestamp = timestamp;
+	rover_ackermann_setpoint.timestamp = hrt_absolute_time();
 	rover_ackermann_setpoint.forward_speed_setpoint = _desired_speed;
 	rover_ackermann_setpoint.forward_speed_setpoint_normalized = NAN;
 	rover_ackermann_setpoint.steering_setpoint = NAN;
@@ -288,10 +282,6 @@ float RoverAckermannGuidance::calcDesiredSteering(PurePursuit &pure_pursuit, con
 				      desired_speed);
 	const float lookahead_distance = pure_pursuit.getLookaheadDistance();
 	const float heading_error = matrix::wrap_pi(desired_heading - vehicle_yaw);
-	// For logging
-	_rover_ackermann_guidance_status.lookahead_distance = lookahead_distance;
-	_rover_ackermann_guidance_status.heading_error = (heading_error * 180.f) / (M_PI_F);
-
 	float desired_steering{0.f};
 
 	if (!armed) {

diff --git a/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.hpp b/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.hpp
@@ -40,7 +40,6 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/rover_ackermann_guidance_status.h>
 #include <uORB/topics/rover_ackermann_setpoint.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -167,9 +166,7 @@ class RoverAckermannGuidance : public ModuleParams
 
 	// uORB publications
 	uORB::Publication<rover_ackermann_setpoint_s> _rover_ackermann_setpoint_pub{ORB_ID(rover_ackermann_setpoint)};
-	uORB::Publication<rover_ackermann_guidance_status_s> _rover_ackermann_guidance_status_pub{ORB_ID(rover_ackermann_guidance_status)};
 	uORB::Publication<position_controller_status_s>	_position_controller_status_pub{ORB_ID(position_controller_status)};
-	rover_ackermann_guidance_status_s _rover_ackermann_guidance_status{};
 
 	// Class instances
 	MapProjection _global_ned_proj_ref{}; // Transform global to NED coordinates

diff --git a/src/modules/rover_differential/RoverDifferentialGuidance/RoverDifferentialGuidance.cpp b/src/modules/rover_differential/RoverDifferentialGuidance/RoverDifferentialGuidance.cpp
@@ -41,7 +41,6 @@ RoverDifferentialGuidance::RoverDifferentialGuidance(ModuleParams *parent) : Mod
 {
 	updateParams();
 	_max_forward_speed = _param_rd_max_speed.get();
-	_rover_differential_guidance_status_pub.advertise();
 }
 
 void RoverDifferentialGuidance::updateParams()
@@ -125,18 +124,9 @@ void RoverDifferentialGuidance::computeGuidance(const float vehicle_yaw, const f
 
 	}
 
-	// Publish differential guidance status (logging)
-	hrt_abstime timestamp = hrt_absolute_time();
-	rover_differential_guidance_status_s rover_differential_guidance_status{};
-	rover_differential_guidance_status.timestamp = timestamp;
-	rover_differential_guidance_status.lookahead_distance = _pure_pursuit.getLookaheadDistance();
-	rover_differential_guidance_status.heading_error_deg = M_RAD_TO_DEG_F * heading_error;
-	rover_differential_guidance_status.state_machine = (uint8_t) _currentState;
-	_rover_differential_guidance_status_pub.publish(rover_differential_guidance_status);
-
 	// Publish setpoints
 	rover_differential_setpoint_s rover_differential_setpoint{};
-	rover_differential_setpoint.timestamp = timestamp;
+	rover_differential_setpoint.timestamp = hrt_absolute_time();
 	rover_differential_setpoint.forward_speed_setpoint = desired_forward_speed;
 	rover_differential_setpoint.forward_speed_setpoint_normalized = NAN;
 	rover_differential_setpoint.yaw_rate_setpoint = NAN;

diff --git a/src/modules/rover_differential/RoverDifferentialGuidance/RoverDifferentialGuidance.hpp b/src/modules/rover_differential/RoverDifferentialGuidance/RoverDifferentialGuidance.hpp
@@ -46,7 +46,6 @@
 #include <uORB/topics/mission_result.h>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/rover_differential_guidance_status.h>
 #include <uORB/topics/rover_differential_setpoint.h>
 
 // Standard libraries
@@ -114,7 +113,6 @@ class RoverDifferentialGuidance : public ModuleParams
 
 	// uORB publications
 	uORB::Publication<rover_differential_setpoint_s> _rover_differential_setpoint_pub{ORB_ID(rover_differential_setpoint)};
-	uORB::Publication<rover_differential_guidance_status_s> _rover_differential_guidance_status_pub{ORB_ID(rover_differential_guidance_status)};
 
 	// Variables
 	MapProjection _global_ned_proj_ref{}; // Transform global to ned coordinates.

diff --git a/src/modules/rover_mecanum/RoverMecanumGuidance/RoverMecanumGuidance.cpp b/src/modules/rover_mecanum/RoverMecanumGuidance/RoverMecanumGuidance.cpp
@@ -42,7 +42,6 @@ RoverMecanumGuidance::RoverMecanumGuidance(ModuleParams *parent) : ModuleParams(
 {
 	updateParams();
 	_max_velocity_magnitude = _param_rm_max_speed.get();
-	_rover_mecanum_guidance_status_pub.advertise();
 }
 
 void RoverMecanumGuidance::updateParams()
@@ -91,20 +90,9 @@ void RoverMecanumGuidance::computeGuidance(const float yaw, const int nav_state)
 		desired_velocity = desired_velocity_magnitude * Vector2f(cosf(heading_error), sinf(heading_error));
 	}
 
-	// Timestamp
-	hrt_abstime timestamp = hrt_absolute_time();
-
-	// Publish mecanum controller status (logging)
-	rover_mecanum_guidance_status_s rover_mecanum_guidance_status{};
-	rover_mecanum_guidance_status.timestamp = timestamp;
-	rover_mecanum_guidance_status.lookahead_distance = _pure_pursuit.getLookaheadDistance();
-	rover_mecanum_guidance_status.heading_error = heading_error;
-	rover_mecanum_guidance_status.desired_speed = desired_velocity_magnitude;
-	_rover_mecanum_guidance_status_pub.publish(rover_mecanum_guidance_status);
-
 	// Publish setpoints
 	rover_mecanum_setpoint_s rover_mecanum_setpoint{};
-	rover_mecanum_setpoint.timestamp = timestamp;
+	rover_mecanum_setpoint.timestamp = hrt_absolute_time();;
 	rover_mecanum_setpoint.forward_speed_setpoint = desired_velocity(0);
 	rover_mecanum_setpoint.forward_speed_setpoint_normalized = NAN;
 	rover_mecanum_setpoint.lateral_speed_setpoint = desired_velocity(1);

diff --git a/src/modules/rover_mecanum/RoverMecanumGuidance/RoverMecanumGuidance.hpp b/src/modules/rover_mecanum/RoverMecanumGuidance/RoverMecanumGuidance.hpp
@@ -46,7 +46,6 @@
 #include <uORB/topics/mission_result.h>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/rover_mecanum_guidance_status.h>
 #include <uORB/topics/rover_mecanum_setpoint.h>
 
 // Standard libraries
@@ -105,7 +104,6 @@ class RoverMecanumGuidance : public ModuleParams
 	uORB::Subscription _home_position_sub{ORB_ID(home_position)};
 
 	// uORB publications
-	uORB::Publication<rover_mecanum_guidance_status_s> _rover_mecanum_guidance_status_pub{ORB_ID(rover_mecanum_guidance_status)};
 	uORB::Publication<rover_mecanum_setpoint_s> _rover_mecanum_setpoint_pub{ORB_ID(rover_mecanum_setpoint)};
 
 	// Variables