[messages] remove phi/theta cmds from OPTIC_FLOW_EST message

as these are not part of the estimation
paparazzi · Sep 13, 2015 · 6e3021c · 6e3021c
1 parent 41d52d0
commit 6e3021c
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Showing 2 changed files with 1 addition and 4 deletions.
diff --git a/conf/messages.xml b/conf/messages.xml
@@ -1972,8 +1972,6 @@
     <field name="div_size"    type="float" unit="1/s"/>
     <field name="surface_roughness"    type="float" unit="1/s"/>
     <field name="divergence"    type="float" unit="1/s"/>
-    <field name="cmd_phi"     type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
-    <field name="cmd_theta"   type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
   </message>
 
   <message name="STEREO_IMG" id="229">

diff --git a/sw/airborne/modules/computer_vision/opticflow_module.c b/sw/airborne/modules/computer_vision/opticflow_module.c
@@ -97,8 +97,7 @@ static void opticflow_telem_send(struct transport_tx *trans, struct link_device
                                &opticflow_result.flow_y, &opticflow_result.flow_der_x,
                                &opticflow_result.flow_der_y, &opticflow_result.vel_x,
                                &opticflow_result.vel_y, &opticflow_result.div_size,
-                               &opticflow_result.surface_roughness, &opticflow_result.divergence,
-                               &opticflow_stab.cmd.phi, &opticflow_stab.cmd.theta);
+                               &opticflow_result.surface_roughness, &opticflow_result.divergence);
   pthread_mutex_unlock(&opticflow_mutex);
 }
 #endif