From c8c26aaee26d0639203245e61be53a6b1773653e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tom=C3=A1=C5=A1=20B=C3=A1=C4=8Da?= <klaxalk@gmail.com>
Date: Sun, 3 Nov 2024 10:07:43 +0100
Subject: [PATCH 1/2] Update f550.yaml

---
 config/mrs_uav_system/f550.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/config/mrs_uav_system/f550.yaml b/config/mrs_uav_system/f550.yaml
index 4f8a580..3276c72 100644
--- a/config/mrs_uav_system/f550.yaml
+++ b/config/mrs_uav_system/f550.yaml
@@ -1,5 +1,5 @@
 motor_params:
-  n_motors: 4
+  n_motors: 6
   a: 0.77522
   b: -1.2348
 

From 83ffe720c007214e052963447591ef4dd35dbed0 Mon Sep 17 00:00:00 2001
From: Matej Petrlik <matej.petrlik@fel.cvut.cz>
Date: Thu, 7 Nov 2024 15:56:42 +0100
Subject: [PATCH 2/2] Removed tf from fcu to rtk_antenna from sensors.launch.
 The tf should be defined per individual drone in tmux session.

---
 launch/sensors.launch | 47 -------------------------------------------
 1 file changed, 47 deletions(-)

diff --git a/launch/sensors.launch b/launch/sensors.launch
index 347d356..939224e 100644
--- a/launch/sensors.launch
+++ b/launch/sensors.launch
@@ -1029,53 +1029,6 @@
     <include file="$(find mrs_serial)/launch/rtk.launch">
     </include>
 
-    <arg name="rtk_frame" default="$(arg UAV_NAME)/rtk_antenna" />
-    <arg name="rtk_frame_slashless" default="rtk_antenna_antenna" />
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'f330')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'f450')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'f550')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'x500')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 't650')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <group if="$(eval arg('UAV_TYPE') == 'm690')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.137 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'naki')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'dofec')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'eaglemk2')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
   </group>
 <!--//}-->