fix(aeva): delete elevation_auto_adjustment param that is not present…

… in FW14 anymore Signed-off-by: Max SCHMELLER <[email protected]>
tier4 · Nov 12, 2024 · 1a92701 · 1a92701
1 parent e2da3f4
commit 1a92701
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Showing 3 changed files with 0 additions and 9 deletions.
diff --git a/nebula_ros/config/lidar/aeva/Aeries2.param.yaml b/nebula_ros/config/lidar/aeva/Aeries2.param.yaml
@@ -9,7 +9,6 @@
     scanner.dithering_enable_ego_speed: 40.0
     scanner.dithering_pattern_option: dithering_pattern_1
     scanner.ele_offset_rad: 0.0
-    scanner.elevation_auto_adjustment: false
     scanner.enable_frame_dithering: false
     scanner.enable_frame_sync: true
     scanner.flip_pattern_vertically: false

diff --git a/nebula_ros/schema/Aeries2.schema.json b/nebula_ros/schema/Aeries2.schema.json
@@ -57,12 +57,6 @@
           "min": -0.35,
           "default": "0.0"
         },
-        "scanner.elevation_auto_adjustment": {
-          "type": "boolean",
-          "readOnly": false,
-          "description": "Adjusts elevation to a long-range setting when the car is going sufficiently fast.",
-          "default": "false"
-        },
         "scanner.enable_frame_dithering": {
           "type": "boolean",
           "readOnly": false,

diff --git a/nebula_ros/src/aeva/aeva_ros_wrapper.cpp b/nebula_ros/src/aeva/aeva_ros_wrapper.cpp
@@ -173,7 +173,6 @@ Status AevaRosWrapper::declareAndGetSensorConfigParams()
   declareJsonParam<float>("scanner.dithering_enable_ego_speed", config.tree);
   declareJsonParam<std::string>("scanner.dithering_pattern_option", config.tree);
   declareJsonParam<float>("scanner.ele_offset_rad", config.tree);
-  declareJsonParam<bool>("scanner.elevation_auto_adjustment", config.tree);
   declareJsonParam<bool>("scanner.enable_frame_dithering", config.tree);
   declareJsonParam<bool>("scanner.enable_frame_sync", config.tree);
   declareJsonParam<bool>("scanner.flip_pattern_vertically", config.tree);
@@ -248,7 +247,6 @@ rcl_interfaces::msg::SetParametersResult AevaRosWrapper::onParameterChange(
     getJsonParam<float>(p, "scanner.dithering_enable_ego_speed", config.tree) |
     getJsonParam<std::string>(p, "scanner.dithering_pattern_option", config.tree) |
     getJsonParam<float>(p, "scanner.ele_offset_rad", config.tree) |
-    getJsonParam<bool>(p, "scanner.elevation_auto_adjustment", config.tree) |
     getJsonParam<bool>(p, "scanner.enable_frame_dithering", config.tree) |
     getJsonParam<bool>(p, "scanner.enable_frame_sync", config.tree) |
     getJsonParam<bool>(p, "scanner.flip_pattern_vertically", config.tree) |