mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
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()
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// ----------------------------
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// ----------------------------
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wp_distance = get_distance(current_loc, next_WP_loc);
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wp_distance = get_distance(current_loc, next_WP_loc);
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if (wp_distance < 0) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("WP error - distance < 0"));
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return;
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}
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// update total loiter angle
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// update total loiter angle
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loiter_angle_update();
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loiter_angle_update();
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@ -6,7 +6,6 @@
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static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_level (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_level (uint8_t argc, const Menu::arg *argv);
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#if !defined( __AVR_ATmega1280__ )
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#if !defined( __AVR_ATmega1280__ )
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static int8_t setup_accel_scale (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_accel_scale (uint8_t argc, const Menu::arg *argv);
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@ -14,7 +13,6 @@ static int8_t setup_set (uint8_t argc, const Men
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#endif
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#endif
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static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
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// Command/function table for the setup menu
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// Command/function table for the setup menu
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@ -23,13 +21,11 @@ static const struct Menu::command setup_menu_commands[] PROGMEM = {
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// ======= ===============
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// ======= ===============
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{"reset", setup_factory},
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{"reset", setup_factory},
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{"radio", setup_radio},
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{"radio", setup_radio},
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{"modes", setup_flightmodes},
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{"level", setup_level},
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{"level", setup_level},
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#if !defined( __AVR_ATmega1280__ )
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#if !defined( __AVR_ATmega1280__ )
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{"accel", setup_accel_scale},
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{"accel", setup_accel_scale},
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#endif
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#endif
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{"compass", setup_compass},
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{"compass", setup_compass},
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{"declination", setup_declination},
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{"show", setup_show},
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{"show", setup_show},
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#if !defined( __AVR_ATmega1280__ )
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#if !defined( __AVR_ATmega1280__ )
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{"set", setup_set},
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{"set", setup_set},
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@ -265,98 +261,6 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
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}
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}
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static int8_t
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setup_flightmodes(uint8_t argc, const Menu::arg *argv)
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{
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uint8_t switchPosition, mode = 0;
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cliSerial->printf_P(PSTR("\nMove RC toggle switch to each position to edit, move aileron stick to select modes."));
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print_hit_enter();
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trim_radio();
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while(1) {
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delay(20);
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read_radio();
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switchPosition = readSwitch();
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// look for control switch change
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if (oldSwitchPosition != switchPosition) {
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// force position 5 to MANUAL
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if (switchPosition > 4) {
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flight_modes[switchPosition] = MANUAL;
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}
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// update our current mode
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mode = flight_modes[switchPosition];
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// update the user
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print_switch(switchPosition, mode);
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// Remember switch position
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oldSwitchPosition = switchPosition;
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}
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// look for stick input
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int16_t radioInputSwitch = radio_input_switch();
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if (radioInputSwitch != 0) {
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mode += radioInputSwitch;
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while (
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mode != MANUAL &&
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mode != CIRCLE &&
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mode != STABILIZE &&
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mode != TRAINING &&
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mode != ACRO &&
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mode != FLY_BY_WIRE_A &&
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mode != AUTOTUNE &&
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mode != FLY_BY_WIRE_B &&
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mode != CRUISE &&
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mode != AUTO &&
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mode != RTL &&
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mode != LOITER)
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{
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if (mode < MANUAL)
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mode = LOITER;
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else if (mode >LOITER)
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mode = MANUAL;
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else
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mode += radioInputSwitch;
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}
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// Override position 5
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if(switchPosition > 4)
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mode = MANUAL;
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// save new mode
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flight_modes[switchPosition] = mode;
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// print new mode
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print_switch(switchPosition, mode);
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}
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// escape hatch
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if(cliSerial->available() > 0) {
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// save changes
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for (mode=0; mode<6; mode++)
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flight_modes[mode].save();
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report_flight_modes();
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print_done();
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return (0);
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}
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}
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}
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static int8_t
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setup_declination(uint8_t argc, const Menu::arg *argv)
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{
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compass.set_declination(radians(argv[1].f));
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report_compass();
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return 0;
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}
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static int8_t
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static int8_t
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setup_erase(uint8_t argc, const Menu::arg *argv)
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setup_erase(uint8_t argc, const Menu::arg *argv)
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{
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{
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@ -490,10 +394,6 @@ static void report_compass()
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print_enabled(g.compass_enabled);
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print_enabled(g.compass_enabled);
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// mag declination
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cliSerial->printf_P(PSTR("Mag Declination: %4.4f\n"),
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degrees(compass.get_declination()));
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Vector3f offsets = compass.get_offsets();
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Vector3f offsets = compass.get_offsets();
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// mag offsets
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// mag offsets
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@ -504,18 +404,6 @@ static void report_compass()
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print_blanks(2);
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print_blanks(2);
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}
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}
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static void report_flight_modes()
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{
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//print_blanks(2);
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cliSerial->printf_P(PSTR("Flight modes\n"));
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print_divider();
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for(int16_t i = 0; i < 6; i++ ) {
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print_switch(i, flight_modes[i]);
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}
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print_blanks(2);
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}
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/***************************************************************************/
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/***************************************************************************/
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// CLI utilities
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// CLI utilities
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/***************************************************************************/
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/***************************************************************************/
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@ -534,14 +422,6 @@ print_radio_values()
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}
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}
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static void
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print_switch(uint8_t p, uint8_t m)
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{
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cliSerial->printf_P(PSTR("Pos %d: "),p);
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print_flight_mode(cliSerial, m);
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cliSerial->println();
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}
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static void
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static void
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print_done()
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print_done()
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{
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{
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@ -566,33 +446,6 @@ print_divider(void)
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cliSerial->println();
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cliSerial->println();
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}
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}
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static int8_t
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radio_input_switch(void)
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{
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static int8_t bouncer = 0;
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if (int16_t(channel_roll->radio_in - channel_roll->radio_trim) > 100) {
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bouncer = 10;
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}
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if (int16_t(channel_roll->radio_in - channel_roll->radio_trim) < -100) {
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bouncer = -10;
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}
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if (bouncer >0) {
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bouncer--;
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}
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if (bouncer <0) {
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bouncer++;
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}
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if (bouncer == 1 || bouncer == -1) {
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return bouncer;
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} else {
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return 0;
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}
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}
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static void zero_eeprom(void)
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static void zero_eeprom(void)
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{
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{
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uint8_t b = 0;
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uint8_t b = 0;
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