Revert "commander: publish full home attitude, not only yaw (#19717)"

This reverts commit 6855aa57c4.

msg/versioned/HomePosition.msg

@@ -12,8 +12,6 @@ float32 x				# X coordinate in meters
 float32 y				# Y coordinate in meters
 float32 z				# Z coordinate in meters
 
-float32 roll				# Pitch angle in radians
-float32 pitch				# Roll angle in radians
 float32 yaw				# Yaw angle in radians
 
 bool valid_alt		# true when the altitude has been set

src/modules/commander/Commander.cpp

@@ -999,10 +999,6 @@ Commander::handle_command(const vehicle_command_s &cmd)
 					}
 
 				} else {
-					float roll = matrix::wrap_2pi(math::radians(cmd.param2));
-					roll = PX4_ISFINITE(roll) ? roll : 0.0f;
-					float pitch = matrix::wrap_2pi(math::radians(cmd.param3));
-					pitch = PX4_ISFINITE(pitch) ? pitch : 0.0f;
 					float yaw = matrix::wrap_2pi(math::radians(cmd.param4));
 					yaw = PX4_ISFINITE(yaw) ? yaw : (float)NAN;
 					const double lat = cmd.param5;
@@ -1011,7 +1007,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 
 					if (PX4_ISFINITE(lat) && PX4_ISFINITE(lon) && PX4_ISFINITE(alt)) {
 
-						if (_home_position.setManually(lat, lon, alt, roll, pitch, yaw)) {
+						if (_home_position.setManually(lat, lon, alt, yaw)) {
 
 							cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
 

src/modules/commander/HomePosition.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022-2025 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -99,9 +99,7 @@ bool HomePosition::setHomePosition(bool force)
 		const vehicle_local_position_s &lpos = _local_position_sub.get();
 		_heading_reset_counter = lpos.heading_reset_counter; // TODO: should not be here
 
-		const vehicle_attitude_s &attitude = _attitude_sub.get();
+		fillLocalHomePos(home, lpos);
-
-		fillLocalHomePos(home, lpos, attitude);
 		updated = true;
 	}
 
@@ -137,25 +135,19 @@ bool HomePosition::setHomePosition(bool force)
 	return updated;
 }
 
-void HomePosition::fillLocalHomePos(home_position_s &home, const vehicle_local_position_s &lpos,
+void HomePosition::fillLocalHomePos(home_position_s &home, const vehicle_local_position_s &lpos)
-				    const vehicle_attitude_s &attitude)
 {
-	matrix::Quatf q(attitude.q);
+	fillLocalHomePos(home, lpos.x, lpos.y, lpos.z, lpos.heading);
-	matrix::Eulerf euler(q);
-	fillLocalHomePos(home, lpos.x, lpos.y, lpos.z, euler(0), euler(1), euler(2));
 }
 
-void HomePosition::fillLocalHomePos(home_position_s &home, float x, float y, float z, float roll, float pitch,
+void HomePosition::fillLocalHomePos(home_position_s &home, float x, float y, float z, float heading)
-				    float yaw)
 {
 	home.x = x;
 	home.y = y;
 	home.z = z;
 	home.valid_lpos = true;
 
-	home.roll = roll;
+	home.yaw = heading;
-	home.pitch = pitch;
-	home.yaw = yaw;
 }
 
 void HomePosition::fillGlobalHomePos(home_position_s &home, const vehicle_global_position_s &gpos)
@@ -237,7 +229,7 @@ void HomePosition::setInAirHomePosition()
 			ref_pos.project(home.lat, home.lon, home_x, home_y);
 
 			const float home_z = -(home.alt - lpos.ref_alt);
-			fillLocalHomePos(home, home_x, home_y, home_z, NAN, NAN, NAN);
+			fillLocalHomePos(home, home_x, home_y, home_z, NAN);
 
 			home.timestamp = hrt_absolute_time();
 			home.update_count++;
@@ -253,7 +245,7 @@ void HomePosition::setInAirHomePosition()
 	}
 }
 
-bool HomePosition::setManually(double lat, double lon, float alt, float roll, float pitch, float yaw)
+bool HomePosition::setManually(double lat, double lon, float alt, float yaw)
 {
 	const vehicle_local_position_s &vehicle_local_position = _local_position_sub.get();
 
@@ -276,8 +268,6 @@ bool HomePosition::setManually(double lat, double lon, float alt, float roll, fl
 	home.z = -(alt - vehicle_local_position.ref_alt);
 	home.valid_lpos = vehicle_local_position.xy_valid && vehicle_local_position.z_valid;
 
-	home.roll = roll;
-	home.pitch = pitch;
 	home.yaw = yaw;
 
 	home.timestamp = hrt_absolute_time();
@@ -313,7 +303,6 @@ void HomePosition::update(bool set_automatically, bool check_if_changed)
 {
 	_local_position_sub.update();
 	_global_position_sub.update();
-	_attitude_sub.update();
 
 	if (_vehicle_air_data_sub.updated()) {
 		vehicle_air_data_s baro_data;

src/modules/commander/HomePosition.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022-2025 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -39,7 +39,6 @@
 #include <uORB/topics/sensor_gps.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/failsafe_flags.h>
 #include <uORB/topics/vehicle_air_data.h>
 #include <lib/mathlib/math/filter/AlphaFilter.hpp>
@@ -65,7 +64,7 @@ public:
 
 	bool setHomePosition(bool force = false);
 	void setInAirHomePosition();
-	bool setManually(double lat, double lon, float alt, float roll, float pitch, float yaw);
+	bool setManually(double lat, double lon, float alt, float yaw);
 	void setTakeoffTime(uint64_t takeoff_time) { _takeoff_time = takeoff_time; }
 
 	void update(bool set_automatically, bool check_if_changed);
@@ -77,9 +76,8 @@ private:
 	void setHomePosValid();
 	void updateHomePositionYaw(float yaw);
 
-	static void fillLocalHomePos(home_position_s &home, const vehicle_local_position_s &lpos,
+	static void fillLocalHomePos(home_position_s &home, const vehicle_local_position_s &lpos);
-				     const vehicle_attitude_s &attitude);
+	static void fillLocalHomePos(home_position_s &home, float x, float y, float z, float heading);
-	static void fillLocalHomePos(home_position_s &home, float x, float y, float z, float roll, float pitch, float yaw);
 	static void fillGlobalHomePos(home_position_s &home, const vehicle_global_position_s &gpos);
 	static void fillGlobalHomePos(home_position_s &home, double lat, double lon, double alt);
 
@@ -87,7 +85,6 @@ private:
 
 	uORB::SubscriptionData<vehicle_global_position_s>	_global_position_sub{ORB_ID(vehicle_global_position)};
 	uORB::SubscriptionData<vehicle_local_position_s>	_local_position_sub{ORB_ID(vehicle_local_position)};
-	uORB::SubscriptionData<vehicle_attitude_s>	_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
 
 	uint64_t _last_gps_timestamp{0};

src/modules/mavlink/streams/HOME_POSITION.hpp

@@ -75,7 +75,7 @@ private:
 				msg.y = home.y;
 				msg.z = home.z;
 
-				matrix::Quatf q(matrix::Eulerf(home.roll, home.pitch, home.yaw));
+				matrix::Quatf q(matrix::Eulerf(0.f, 0.f, home.yaw));
 				q.copyTo(msg.q);
 
 				msg.approach_x = 0.f;