mirror of https://github.com/ArduPilot/ardupilot
Plane: removed some usused code
setting up flight modes by CLI is not used any more
This commit is contained in:
Andrew Tridgell
parent
a295760e56
commit
0991af86f3
|
|
@ -62,11 +62,6 @@ static void navigate()
|
|||
// ----------------------------
|
||||
wp_distance = get_distance(current_loc, next_WP_loc);
|
||||
|
||||
if (wp_distance < 0) {
|
||||
gcs_send_text_P(SEVERITY_HIGH,PSTR("WP error - distance < 0"));
|
||||
return;
|
||||
}
|
||||
|
||||
// update total loiter angle
|
||||
loiter_angle_update();
|
||||
|
||||
|
|
|
|||
|
|
@ -6,7 +6,6 @@
|
|||
static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t setup_level (uint8_t argc, const Menu::arg *argv);
|
||||
#if !defined( __AVR_ATmega1280__ )
|
||||
static int8_t setup_accel_scale (uint8_t argc, const Menu::arg *argv);
|
||||
|
|
@ -14,7 +13,6 @@ static int8_t setup_set (uint8_t argc, const Men
|
|||
#endif
|
||||
static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
|
||||
static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
|
||||
|
||||
|
||||
// Command/function table for the setup menu
|
||||
|
|
@ -23,13 +21,11 @@ static const struct Menu::command setup_menu_commands[] PROGMEM = {
|
|||
// ======= ===============
|
||||
{"reset", setup_factory},
|
||||
{"radio", setup_radio},
|
||||
{"modes", setup_flightmodes},
|
||||
{"level", setup_level},
|
||||
#if !defined( __AVR_ATmega1280__ )
|
||||
{"accel", setup_accel_scale},
|
||||
#endif
|
||||
{"compass", setup_compass},
|
||||
{"declination", setup_declination},
|
||||
{"show", setup_show},
|
||||
#if !defined( __AVR_ATmega1280__ )
|
||||
{"set", setup_set},
|
||||
|
|
@ -265,98 +261,6 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
|
|||
}
|
||||
|
||||
|
||||
static int8_t
|
||||
setup_flightmodes(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
uint8_t switchPosition, mode = 0;
|
||||
|
||||
cliSerial->printf_P(PSTR("\nMove RC toggle switch to each position to edit, move aileron stick to select modes."));
|
||||
print_hit_enter();
|
||||
trim_radio();
|
||||
|
||||
while(1) {
|
||||
delay(20);
|
||||
read_radio();
|
||||
switchPosition = readSwitch();
|
||||
|
||||
|
||||
// look for control switch change
|
||||
if (oldSwitchPosition != switchPosition) {
|
||||
// force position 5 to MANUAL
|
||||
if (switchPosition > 4) {
|
||||
flight_modes[switchPosition] = MANUAL;
|
||||
}
|
||||
// update our current mode
|
||||
mode = flight_modes[switchPosition];
|
||||
|
||||
// update the user
|
||||
print_switch(switchPosition, mode);
|
||||
|
||||
// Remember switch position
|
||||
oldSwitchPosition = switchPosition;
|
||||
}
|
||||
|
||||
// look for stick input
|
||||
int16_t radioInputSwitch = radio_input_switch();
|
||||
|
||||
if (radioInputSwitch != 0) {
|
||||
|
||||
mode += radioInputSwitch;
|
||||
|
||||
while (
|
||||
mode != MANUAL &&
|
||||
mode != CIRCLE &&
|
||||
mode != STABILIZE &&
|
||||
mode != TRAINING &&
|
||||
mode != ACRO &&
|
||||
mode != FLY_BY_WIRE_A &&
|
||||
mode != AUTOTUNE &&
|
||||
mode != FLY_BY_WIRE_B &&
|
||||
mode != CRUISE &&
|
||||
mode != AUTO &&
|
||||
mode != RTL &&
|
||||
mode != LOITER)
|
||||
{
|
||||
if (mode < MANUAL)
|
||||
mode = LOITER;
|
||||
else if (mode >LOITER)
|
||||
mode = MANUAL;
|
||||
else
|
||||
mode += radioInputSwitch;
|
||||
}
|
||||
|
||||
// Override position 5
|
||||
if(switchPosition > 4)
|
||||
mode = MANUAL;
|
||||
|
||||
// save new mode
|
||||
flight_modes[switchPosition] = mode;
|
||||
|
||||
// print new mode
|
||||
print_switch(switchPosition, mode);
|
||||
}
|
||||
|
||||
// escape hatch
|
||||
if(cliSerial->available() > 0) {
|
||||
// save changes
|
||||
for (mode=0; mode<6; mode++)
|
||||
flight_modes[mode].save();
|
||||
report_flight_modes();
|
||||
print_done();
|
||||
return (0);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static int8_t
|
||||
setup_declination(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
compass.set_declination(radians(argv[1].f));
|
||||
report_compass();
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
static int8_t
|
||||
setup_erase(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
|
|
@ -490,10 +394,6 @@ static void report_compass()
|
|||
|
||||
print_enabled(g.compass_enabled);
|
||||
|
||||
// mag declination
|
||||
cliSerial->printf_P(PSTR("Mag Declination: %4.4f\n"),
|
||||
degrees(compass.get_declination()));
|
||||
|
||||
Vector3f offsets = compass.get_offsets();
|
||||
|
||||
// mag offsets
|
||||
|
|
@ -504,18 +404,6 @@ static void report_compass()
|
|||
print_blanks(2);
|
||||
}
|
||||
|
||||
static void report_flight_modes()
|
||||
{
|
||||
//print_blanks(2);
|
||||
cliSerial->printf_P(PSTR("Flight modes\n"));
|
||||
print_divider();
|
||||
|
||||
for(int16_t i = 0; i < 6; i++ ) {
|
||||
print_switch(i, flight_modes[i]);
|
||||
}
|
||||
print_blanks(2);
|
||||
}
|
||||
|
||||
/***************************************************************************/
|
||||
// CLI utilities
|
||||
/***************************************************************************/
|
||||
|
|
@ -534,14 +422,6 @@ print_radio_values()
|
|||
|
||||
}
|
||||
|
||||
static void
|
||||
print_switch(uint8_t p, uint8_t m)
|
||||
{
|
||||
cliSerial->printf_P(PSTR("Pos %d: "),p);
|
||||
print_flight_mode(cliSerial, m);
|
||||
cliSerial->println();
|
||||
}
|
||||
|
||||
static void
|
||||
print_done()
|
||||
{
|
||||
|
|
@ -566,33 +446,6 @@ print_divider(void)
|
|||
cliSerial->println();
|
||||
}
|
||||
|
||||
static int8_t
|
||||
radio_input_switch(void)
|
||||
{
|
||||
static int8_t bouncer = 0;
|
||||
|
||||
|
||||
if (int16_t(channel_roll->radio_in - channel_roll->radio_trim) > 100) {
|
||||
bouncer = 10;
|
||||
}
|
||||
if (int16_t(channel_roll->radio_in - channel_roll->radio_trim) < -100) {
|
||||
bouncer = -10;
|
||||
}
|
||||
if (bouncer >0) {
|
||||
bouncer--;
|
||||
}
|
||||
if (bouncer <0) {
|
||||
bouncer++;
|
||||
}
|
||||
|
||||
if (bouncer == 1 || bouncer == -1) {
|
||||
return bouncer;
|
||||
} else {
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
static void zero_eeprom(void)
|
||||
{
|
||||
uint8_t b = 0;
|
||||
|
|
|
|||
Loading…
Reference in New Issue