Upload files to 'src/fc_network_adapter/fc_network_adapter'

src/fc_network_adapter/fc_network_adapter/mavlinkPublish.py

@@ -59,18 +59,14 @@ class mavlink_publisher():
         return [qx, qy, qz, qw]
     
     def create_attitude(self, sysid, component_obj):
-        # target topic name # 請跟這個 method 的名稱保持一致
         target_topic = 'attitude'
 
-        # 這邊要檢查 attitude 是否存在
         try:
             _ = component_obj.emitParams['attitude']
         except KeyError:
-            # 這個 component id 還不存在
             logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
             return False
         
-        # 若存在則 建立 publisher object 並回傳 true
         topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
         publisher_ = self.create_publisher(sensor_msgs.msg.Imu, topic_name, 1)
         component_obj.publishers[target_topic] = [publisher_, self.packEmit_attitude]
@@ -187,24 +183,6 @@ class mavlink_publisher():
         publisher.publish(msg)
         pass
 
-    def create_global_hdg(self, sysid, component_obj):
-        target_topic = 'global_position/compass_hdg'
-        try:
-            _ = component_obj.emitParams['global_position']
-        except KeyError:
-            logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
-            return False
-        topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
-        publisher_ = self.create_publisher(std_msgs.msg.Float64, topic_name, 1)
-        component_obj.publishers[target_topic] = [publisher_, self.packEmit_global_hdg]
-
-    def packEmit_global_hdg(cls, emitParams, publisher):
-        mav_msg = emitParams['global_position']
-        msg = std_msgs.msg.Float64()
-        msg.data = mav_msg.hdg/1e2
-        publisher.publish(msg)
-        pass
-
     def create_vfr_hud(self, sysid, component_obj):
         target_topic = 'vfr_hud'
         try:
@@ -245,5 +223,6 @@ class mavlink_publisher():
         msg.voltage = mav_msg.voltages[0]/1e3
         publisher.publish(msg)
         pass
+
         
     # ↑↑↑↑↑↑↑↑↑↑↑↑  處理不同 ros2 topic 訊息 請放在這裡  ↑↑↑↑↑↑↑↑↑↑↑↑