Velocity limit: remove duplicate message and if(true)

PX4 · Dec 5, 2023 · 53674a7 · 53674a7
1 parent c1c99eb
commit 53674a7
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Showing 2 changed files with 6 additions and 16 deletions.
diff --git a/msg/velocity_limits.msg b/msg/velocity_limits.msg
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1220,14 +1220,12 @@ void MavlinkReceiver::handle_message_set_velocity_limits(mavlink_message_t *msg)
 	mavlink_set_velocity_limits_t mavlink_set_velocity_limits;
 	mavlink_msg_set_velocity_limits_decode(msg, &mavlink_set_velocity_limits);
 
-	if (true) {
-		velocity_limits_s velocity_limits{};
-		velocity_limits.horizontal_velocity = mavlink_set_velocity_limits.horizontal_speed_limit;
-		velocity_limits.vertical_velocity = mavlink_set_velocity_limits.vertical_speed_limit;
-		velocity_limits.yaw_rate = mavlink_set_velocity_limits.yaw_rate_limit;
-		velocity_limits.timestamp = hrt_absolute_time();
-		_velocity_limits_pub.publish(velocity_limits);
-	}
+	velocity_limits_s velocity_limits{};
+	velocity_limits.horizontal_velocity = mavlink_set_velocity_limits.horizontal_speed_limit;
+	velocity_limits.vertical_velocity = mavlink_set_velocity_limits.vertical_speed_limit;
+	velocity_limits.yaw_rate = mavlink_set_velocity_limits.yaw_rate_limit;
+	velocity_limits.timestamp = hrt_absolute_time();
+	_velocity_limits_pub.publish(velocity_limits);
 }
 
 void