AP_DDS: Rally point message simplified

ArduPilot · Nov 5, 2024 · 0c549f9 · 0c549f9
1 parent 5fe69ef
commit 0c549f9
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Showing 4 changed files with 1 addition and 37 deletions.
diff --git a/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_rally_point.py b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_rally_point.py
@@ -40,9 +40,6 @@
 RALLY_0.point.latitude =-35.0
 RALLY_0.point.longitude = 149.0
 RALLY_0.point.altitude = 400.0
-RALLY_0.break_altitude = 300.0
-RALLY_0.land_dir = 20.0
-RALLY_0.break_altitude = 20.0
 RALLY_0.altitude_frame = 2
 
 
@@ -131,7 +128,6 @@ def process_compare(self, rally):
                     print (f"{response.rally.point.latitude} - {rally.point.latitude}")
                     if (abs(response.rally.point.latitude - rally.point.latitude) < 1e-7
                         and abs(response.rally.point.longitude - rally.point.longitude) < 1e-7
-                        and response.rally.break_altitude == rally.break_altitude
                         and response.rally.altitude_frame == rally.altitude_frame):
                         self.get_rally_event.set()
                     return

diff --git a/Tools/ros2/ardupilot_msgs/msg/Rally.msg b/Tools/ros2/ardupilot_msgs/msg/Rally.msg
@@ -1,12 +1,4 @@
 geographic_msgs/GeoPoint point
-float32 break_altitude # when autolanding, break out of loiter at this alt relative to Home (meters)
-float32 land_dir # Heading to aim for when landing (degrees)
-
-# seek favorable winds when choosing a landing poi
-bool flag_favorable_winds
-
-# do auto land after arriving
-bool flag_do_auto_land
 
 # Altitude reference frame
 uint8 ALTITUDE_FRAME_ABSOLUTE = 0

diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -826,10 +826,6 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u
             rally_get_response.rally.point.latitude = rally_location.lat * 1e-7;
             rally_get_response.rally.point.longitude = rally_location.lng * 1e-7;
             rally_get_response.rally.point.altitude = rally_location.alt;
-            rally_get_response.rally.break_altitude = rally_location.break_alt;
-            rally_get_response.rally.land_dir = rally_location.land_dir * 1e-2f;
-            rally_get_response.rally.flag_favorable_winds = rally_location.flags & (1 << 0);
-            rally_get_response.rally.flag_do_auto_land = rally_location.flags & (1 << 1);
             bool alt_frame_valid = rally_location.flags & (1 << 2);
             if (alt_frame_valid) {
                 rally_get_response.rally.altitude_frame = (rally_location.flags >> 3) & ((1 << 2) - 1);
@@ -840,7 +836,7 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u
             GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request Rally index %u is valid: lat: %f  lon: %f",
                           msg_prefix, rally_get_request.index, rally_get_response.rally.point.latitude, rally_get_response.rally.point.longitude);
         } else {
-            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request Rally index %u is invalid", msg_prefix, rally_get_request.index);
+            GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%s Request Rally index %u is invalid", msg_prefix, rally_get_request.index);
             rally_get_response.success = false;
         }
 
@@ -884,11 +880,7 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u
             rally_location.lat = static_cast<int32_t>(rally_set_request.rally.point.latitude * 1e7);
             rally_location.lng = static_cast<int32_t>(rally_set_request.rally.point.longitude * 1e7);
             rally_location.alt = static_cast<int16_t>(rally_set_request.rally.point.altitude);
-            rally_location.break_alt = static_cast<int16_t>(rally_set_request.rally.break_altitude);
-            rally_location.land_dir = static_cast<int16_t>(rally_set_request.rally.land_dir * 1e2f);
             rally_location.flags = 0;
-            rally_location.flags |= ((rally_set_request.rally.flag_favorable_winds ? 1 : 0) << 0);
-            rally_location.flags |= ((rally_set_request.rally.flag_do_auto_land ? 1 : 0) << 1);
             rally_location.flags |= (1 << 2); // Use the provided frame.
             rally_location.flags |= (rally_set_request.rally.altitude_frame << 3);
 

diff --git a/libraries/AP_DDS/Idl/ardupilot_msgs/msg/Rally.idl b/libraries/AP_DDS/Idl/ardupilot_msgs/msg/Rally.idl
@@ -17,22 +17,6 @@ module ardupilot_msgs {
     struct Rally {
       geographic_msgs::msg::GeoPoint point;
 
-      @verbatim (language="comment", text=
-        "when autolanding, break out of loiter at this alt relative to Home (meters)")
-      float break_altitude;
-
-      @verbatim (language="comment", text=
-        "Heading to aim for when landing (degrees)")
-      float land_dir;
-
-      @verbatim (language="comment", text=
-        "seek favorable winds when choosing a landing poi")
-      boolean flag_favorable_winds;
-
-      @verbatim (language="comment", text=
-        "do auto land after arriving")
-      boolean flag_do_auto_land;
-
       uint8 altitude_frame;
     };
   };