From 1a92701d8ae4eed6da98385b0108fbec94df9455 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 12 Nov 2024 16:05:54 +0900
Subject: [PATCH] fix(aeva): delete elevation_auto_adjustment param that is not
 present in FW14 anymore

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>
---
 nebula_ros/config/lidar/aeva/Aeries2.param.yaml | 1 -
 nebula_ros/schema/Aeries2.schema.json           | 6 ------
 nebula_ros/src/aeva/aeva_ros_wrapper.cpp        | 2 --
 3 files changed, 9 deletions(-)

diff --git a/nebula_ros/config/lidar/aeva/Aeries2.param.yaml b/nebula_ros/config/lidar/aeva/Aeries2.param.yaml
index 21aaba051..8f8fc694b 100644
--- 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
index 9a5d7ec9d..659254724 100644
--- 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
index 2f102d3df..cb8567568 100644
--- 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) |