remove udral gnss topics

ZilantRobotics · May 2, 2024 · c4e1f1e · c4e1f1e
1 parent 0ed6fdc
commit c4e1f1e
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Showing 4 changed files with 1 addition and 45 deletions.
diff --git a/src/autopilot_interface/cyphal_hitl.cpp b/src/autopilot_interface/cyphal_hitl.cpp
@@ -104,25 +104,6 @@ void CyphalHitlInterface::publish_gnss(const Vector3& global_pose, const Vector3
     gps_gnss.msg.horizontal_accuracy = 1.0f / time_multiplier / random_multiplier;
     gps_gnss.msg.vertical_accuracy = 1.0f / time_multiplier / random_multiplier;
     gps_gnss.publish();
-
-    reg_udral_physics_kinematics_geodetic_PointStateVarTs_0_1 gps_point_msg;
-    gps_point_msg.value.position.value.latitude =  global_pose[0] * RAD_TO_DEGREE;
-    gps_point_msg.value.position.value.longitude = global_pose[1] * RAD_TO_DEGREE;
-    gps_point_msg.value.position.value.altitude.meter = global_pose[2];
-
-    gps_point_msg.value.velocity.value.meter_per_second[0] = ned_velocity[0] * _time_factor;
-    gps_point_msg.value.velocity.value.meter_per_second[1] = ned_velocity[1] * _time_factor;
-    gps_point_msg.value.velocity.value.meter_per_second[2] = ned_velocity[2] * _time_factor;
-    gps_point.publish(gps_point_msg);
-
-    gps_sats.msg.value = 10 * time_multiplier * random_multiplier;
-    gps_sats.publish();
-
-    gps_status.msg.value = 3;
-    gps_status.publish();
-
-    gps_pdop.msg.value = 1;
-    gps_pdop.publish();
 }
 
 void CyphalHitlInterface::publish_esc_feedback(uint8_t esc_idx, float voltage, float current, uint32_t rpm) {
@@ -208,11 +189,6 @@ void CyphalHitlInterface::_update_port_identifiers() {
     esc_feedback_3.setPortId(paramsGetIntegerValue(PARAM_ESC_FEEDBACK_3_ID));
 
     gps_gnss.setPortId(paramsGetIntegerValue(PARAM_DS015_GPS_GNSS_ID));
-    gps_point.setPortId(paramsGetIntegerValue(PARAM_GPS_POINT_ID));
-    gps_sats.setPortId(paramsGetIntegerValue(PARAM_GPS_SATS_ID));
-    gps_status.setPortId(paramsGetIntegerValue(PARAM_GPS_STATUS_ID));
-    gps_pdop.setPortId(paramsGetIntegerValue(PARAM_GPS_PDOP_ID));
-
     baro_pressure.setPortId(paramsGetIntegerValue(BAROMETER_PRESSURE_ID));
     baro_temperature.setPortId(paramsGetIntegerValue(BAROMETER_TEMPERATURE_ID));
     magnetometer.setPortId(paramsGetIntegerValue(PARAM_MAGNETOMETER_ID));

diff --git a/src/autopilot_interface/cyphal_hitl.hpp b/src/autopilot_interface/cyphal_hitl.hpp
@@ -45,10 +45,6 @@ class CyphalHitlInterface {
             esc_feedback_3(&cyphal, 0),
             esc_feedback{{&esc_feedback_0, &esc_feedback_1, &esc_feedback_2, &esc_feedback_3}},
             gps_gnss(&cyphal, 0),
-            gps_point(&cyphal, 0),
-            gps_sats(&cyphal, 0),
-            gps_status(&cyphal, 0),
-            gps_pdop(&cyphal, 0),
             accel(&cyphal, 0),
             gyro(&cyphal, 0),
             imu(&cyphal, 0),
@@ -88,10 +84,6 @@ class CyphalHitlInterface {
     std::array<cyphal::ZubaxCompactFeedbackPublisher*, 4> esc_feedback;
 
     cyphal::Ds015GnssGnssPublisher gps_gnss;
-    cyphal::GpsPointPublisher gps_point;
-    cyphal::Int16Publisher gps_sats;
-    cyphal::Int16Publisher gps_status;
-    cyphal::Int16Publisher gps_pdop;
 
     cyphal::BaroPressurePublisher baro_pressure;
     cyphal::BaroTemperaturePublisher baro_temperature;

diff --git a/src/autopilot_interface/params.cpp b/src/autopilot_interface/params.cpp
@@ -18,10 +18,6 @@ IntegerDesc_t integer_desc_pool[] = {
     {"uavcan.pub.baro.press.id",            1, 65535, 2404, MUTABLE, true},
 
     {"uavcan.pub.ds015.gps.gnss.id",        1, 65535, 2005, MUTABLE, true},
-    {"uavcan.pub.gps.point.id",             1, 65535, 2406, MUTABLE, true},
-    {"uavcan.pub.gps.sats.id",              1, 65535, 2407, MUTABLE, true},
-    {"uavcan.pub.gps.status.id",            1, 65535, 2408, MUTABLE, true},
-    {"uavcan.pub.gps.pdop.id",              1, 65535, 2409, MUTABLE, true},
 
     {"uavcan.pub.imu.accel.id",             1, 65535, 2400, MUTABLE, true},
     {"uavcan.pub.imu.gyro.id",              1, 65535, 2401, MUTABLE, true},
@@ -56,10 +52,6 @@ StringDesc_t string_desc_pool[NUM_OF_STR_PARAMS] = {
     {"uavcan.pub.baro.press.type",      "uavcan.si.sample.pressure.Scalar", IMMUTABLE},
 
     {"uavcan.pub.ds015.gps.gnss.type",  "ds015.service.gnss.Gnss.0.1", IMMUTABLE},
-    {"uavcan.pub.gps.point.type",       "reg.udral.physics.kinematics.geodetic.PointStateVarTs", IMMUTABLE},
-    {"uavcan.pub.gps.sats.type",        "uavcan.primitive.scalar.Integer16", IMMUTABLE},
-    {"uavcan.pub.gps.status.type",      "uavcan.primitive.scalar.Integer16", IMMUTABLE},
-    {"uavcan.pub.gps.pdop.type",        "uavcan.primitive.scalar.Integer16", IMMUTABLE},
 
     {"uavcan.pub.imu.accel.type",       "uavcan.si.sample.acceleration.Vector3", IMMUTABLE},
     {"uavcan.pub.imu.gyro.type",        "uavcan.si.sample.angular_velocity.Vector3", IMMUTABLE},

diff --git a/src/autopilot_interface/params.hpp b/src/autopilot_interface/params.hpp
@@ -18,10 +18,6 @@ enum IntParamsIndexes : ParamIndex_t {
     BAROMETER_PRESSURE_ID,
 
     PARAM_DS015_GPS_GNSS_ID,
-    PARAM_GPS_POINT_ID,
-    PARAM_GPS_SATS_ID,
-    PARAM_GPS_STATUS_ID,
-    PARAM_GPS_PDOP_ID,
 
     IMU_ACCEL_ID,
     IMU_GYRO_ID,
@@ -44,6 +40,6 @@ enum IntParamsIndexes : ParamIndex_t {
     INTEGER_PARAMS_AMOUNT
 };
 
-#define NUM_OF_STR_PARAMS 25
+#define NUM_OF_STR_PARAMS 21
 
 #endif  // PARAMS_HPP_