From 6e3021c83009d2f6bf1761fa81c040b1a2bb22e4 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Sun, 13 Sep 2015 19:38:55 +0200
Subject: [PATCH] [messages] remove phi/theta cmds from OPTIC_FLOW_EST message

as these are not part of the estimation
---
 conf/messages.xml                                      | 2 --
 sw/airborne/modules/computer_vision/opticflow_module.c | 3 +--
 2 files changed, 1 insertion(+), 4 deletions(-)

diff --git a/conf/messages.xml b/conf/messages.xml
index 81558fcfbb5..e5887d64640 100644
--- 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
index ee45984e231..af393c786a7 100644
--- 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