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Sub: Remove ADSB support

This commit is contained in:
Rustom Jehangir 2016-02-20 18:16:23 -08:00 committed by Andrew Tridgell
parent 5d78cacd58
commit 105eae0e86
9 changed files with 1 additions and 83 deletions
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1
ArduSub/APM_Config.h
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@ -36,7 +36,6 @@
//#define NAV_GUIDED DISABLED // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
//#define OPTFLOW DISABLED // disable optical flow sensor to save 5K of flash space
//#define FRSKY_TELEM_ENABLED DISABLED // disable FRSky telemetry
#define ADSB_ENABLED DISABLED // disable ADSB support
// features below are disabled by default on all boards
//#define SPRAYER ENABLED // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)

3
ArduSub/ArduSub.cpp
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@ -137,9 +137,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
SCHED_TASK(rpm_update, 10, 200),
SCHED_TASK(compass_cal_update, 100, 100),
SCHED_TASK(accel_cal_update, 10, 100),
#if ADSB_ENABLED == ENABLED
SCHED_TASK(adsb_update, 1, 100),
#endif
#if FRSKY_TELEM_ENABLED == ENABLED
SCHED_TASK(frsky_telemetry_send, 5, 75),
#endif

3
ArduSub/GCS_Mavlink.cpp
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@ -1987,9 +1987,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
case MAVLINK_MSG_ID_ADSB_VEHICLE:
#if ADSB_ENABLED == ENABLED
sub.adsb.update_vehicle(msg);
#endif
break;
} // end switch

2
ArduSub/Parameters.cpp
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@ -1098,7 +1098,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Group: ADSB_
// @Path: ../libraries/AP_ADSB/AP_ADSB.cpp
GOBJECT(adsb, "ADSB_", AP_ADSB),
// GOBJECT(adsb, "ADSB_", AP_ADSB),
// @Param: AUTOTUNE_AXES
// @DisplayName: Autotune axis bitmask

5
ArduSub/Sub.h
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@ -90,7 +90,6 @@
#include <AP_Frsky_Telem/AP_Frsky_Telem.h>
#include <AP_LandingGear/AP_LandingGear.h> // Landing Gear library
#include <AP_Terrain/AP_Terrain.h>
#include <AP_ADSB/AP_ADSB.h>
#include <AP_RPM/AP_RPM.h>
#include <AC_InputManager/AC_InputManager.h> // Pilot input handling library
#include <AC_InputManager/AC_InputManager_Heli.h> // Heli specific pilot input handling library
@ -518,8 +517,6 @@ private:
AC_InputManager_Heli input_manager;
#endif
AP_ADSB adsb {ahrs};
// use this to prevent recursion during sensor init
bool in_mavlink_delay;
@ -746,8 +743,6 @@ private:
void autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float target, float measurement_max);
void autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max);
void autotune_twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max);
void adsb_update(void);
void adsb_handle_vehicle_threats(void);
bool brake_init(bool ignore_checks);
void brake_run();
bool circle_init(bool ignore_checks);

62
ArduSub/adsb.cpp
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@ -1,62 +0,0 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* adsb.cpp
* Copyright (C) Tom Pittenger 2015
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "Sub.h"
#if ADSB_ENABLED == ENABLED
/*
* this module deals with ADS-B handling for ArduPilot
* ADS-B is an RF based collision avoidance protocol to tell nearby aircraft your location
* https://en.wikipedia.org/wiki/Automatic_dependent_surveillance_%E2%80%93_broadcast
*
*/
/*
handle periodic adsb database maintenance and handle threats
*/
void Sub::adsb_update(void)
{
adsb.update();
adsb_handle_vehicle_threats();
}
/*
* Handle ADS-B based threats which are platform dependent
*/
void Sub::adsb_handle_vehicle_threats(void)
{
// handle clearing of threat
if (adsb.get_is_evading_threat() && !adsb.get_another_vehicle_within_radius()) {
adsb.set_is_evading_threat(false);
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, ERROR_CODE_FAILSAFE_RESOLVED);
gcs_send_text(MAV_SEVERITY_CRITICAL, "ADS-B threat cleared");
return;
}
// handle new threat
if (!adsb.get_is_evading_threat() && adsb.get_another_vehicle_within_radius()) {
adsb.set_is_evading_threat(true);
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, ERROR_CODE_FAILSAFE_OCCURRED);
gcs_send_text(MAV_SEVERITY_CRITICAL, "ADS-B threat!");
return;
}
}
#endif // #ADSB_ENABLED

6
ArduSub/config.h
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@ -326,12 +326,6 @@
# define PARACHUTE ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// ADSB support
#ifndef ADSB_ENABLED
# define ADSB_ENABLED ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Nav-Guided - allows external nav computer to control vehicle
#ifndef NAV_GUIDED

1
ArduSub/make.inc
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@ -58,4 +58,3 @@ LIBRARIES += AP_RPM
LIBRARIES += AC_PrecLand
LIBRARIES += AP_IRLock
LIBRARIES += AC_InputManager
LIBRARIES += AP_ADSB

1
ArduSub/wscript
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@ -7,7 +7,6 @@ def build(bld):
name=vehicle + '_libs',
vehicle=vehicle,
libraries=bld.ap_common_vehicle_libraries() + [
'AP_ADSB',
'AC_AttitudeControl',
'AC_Fence',
'AC_PID',