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Rover: remove learning mode

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saving waypoints can be done in manual or steering mode
This commit is contained in:
Randy Mackay 2017-08-22 16:27:10 +09:00
parent 524fe4cd82
commit 14c74a5967
10 changed files with 14 additions and 55 deletions
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2
APMrover2/GCS_Mavlink.cpp
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@ -815,7 +815,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
case MAV_MODE_STABILIZE_DISARMED: case MAV_MODE_STABILIZE_DISARMED:
case MAV_MODE_STABILIZE_ARMED: case MAV_MODE_STABILIZE_ARMED:
rover.set_mode(rover.mode_learning, MODE_REASON_GCS_COMMAND); rover.set_mode(rover.mode_steering, MODE_REASON_GCS_COMMAND);
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
break; break;

24
APMrover2/Parameters.cpp
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@ -241,45 +241,45 @@ const AP_Param::Info Rover::var_info[] = {
// @Param: MODE1 // @Param: MODE1
// @DisplayName: Mode1 // @DisplayName: Mode1
// @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided // @Values: 0:Manual,3:Steering,4:Hold,10:Auto,11:RTL,15:Guided
// @User: Standard // @User: Standard
// @Description: Driving mode for switch position 1 (910 to 1230 and above 2049) // @Description: Driving mode for switch position 1 (910 to 1230 and above 2049)
GSCALAR(mode1, "MODE1", MODE_1), GSCALAR(mode1, "MODE1", MANUAL),
// @Param: MODE2 // @Param: MODE2
// @DisplayName: Mode2 // @DisplayName: Mode2
// @Description: Driving mode for switch position 2 (1231 to 1360) // @Description: Driving mode for switch position 2 (1231 to 1360)
// @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided // @Values: 0:Manual,3:Steering,4:Hold,10:Auto,11:RTL,15:Guided
// @User: Standard // @User: Standard
GSCALAR(mode2, "MODE2", MODE_2), GSCALAR(mode2, "MODE2", MANUAL),
// @Param: MODE3 // @Param: MODE3
// @DisplayName: Mode3 // @DisplayName: Mode3
// @Description: Driving mode for switch position 3 (1361 to 1490) // @Description: Driving mode for switch position 3 (1361 to 1490)
// @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided // @Values: 0:Manual,3:Steering,4:Hold,10:Auto,11:RTL,15:Guided
// @User: Standard // @User: Standard
GSCALAR(mode3, "MODE3", MODE_3), GSCALAR(mode3, "MODE3", MANUAL),
// @Param: MODE4 // @Param: MODE4
// @DisplayName: Mode4 // @DisplayName: Mode4
// @Description: Driving mode for switch position 4 (1491 to 1620) // @Description: Driving mode for switch position 4 (1491 to 1620)
// @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided // @Values: 0:Manual,3:Steering,4:Hold,10:Auto,11:RTL,15:Guided
// @User: Standard // @User: Standard
GSCALAR(mode4, "MODE4", MODE_4), GSCALAR(mode4, "MODE4", MANUAL),
// @Param: MODE5 // @Param: MODE5
// @DisplayName: Mode5 // @DisplayName: Mode5
// @Description: Driving mode for switch position 5 (1621 to 1749) // @Description: Driving mode for switch position 5 (1621 to 1749)
// @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided // @Values: 0:Manual,3:Steering,4:Hold,10:Auto,11:RTL,15:Guided
// @User: Standard // @User: Standard
GSCALAR(mode5, "MODE5", MODE_5), GSCALAR(mode5, "MODE5", MANUAL),
// @Param: MODE6 // @Param: MODE6
// @DisplayName: Mode6 // @DisplayName: Mode6
// @Description: Driving mode for switch position 6 (1750 to 2049) // @Description: Driving mode for switch position 6 (1750 to 2049)
// @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided // @Values: 0:Manual,3:Steering,4:Hold,10:Auto,11:RTL,15:Guided
// @User: Standard // @User: Standard
GSCALAR(mode6, "MODE6", MODE_6), GSCALAR(mode6, "MODE6", MANUAL),
// @Param: WP_RADIUS // @Param: WP_RADIUS
// @DisplayName: Waypoint radius // @DisplayName: Waypoint radius

2
APMrover2/Parameters.h
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@ -160,7 +160,7 @@ public:
k_param_mode4, k_param_mode4,
k_param_mode5, k_param_mode5,
k_param_mode6, k_param_mode6,
k_param_learn_channel, k_param_aux_channel,
// //
// 220: Waypoint data // 220: Waypoint data

1
APMrover2/Rover.h
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@ -377,7 +377,6 @@ private:
ModeManual mode_manual; ModeManual mode_manual;
ModeGuided mode_guided; ModeGuided mode_guided;
ModeAuto mode_auto; ModeAuto mode_auto;
ModeLearning mode_learning;
ModeSteering mode_steering; ModeSteering mode_steering;
ModeRTL mode_rtl; ModeRTL mode_rtl;

20
APMrover2/config.h
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@ -93,26 +93,6 @@
#error XXX #error XXX
#endif #endif
#if !defined(MODE_1)
#define MODE_1 LEARNING
#endif
#if !defined(MODE_2)
#define MODE_2 LEARNING
#endif
#if !defined(MODE_3)
#define MODE_3 LEARNING
#endif
#if !defined(MODE_4)
#define MODE_4 LEARNING
#endif
#if !defined(MODE_5)
#define MODE_5 LEARNING
#endif
#if !defined(MODE_6)
#define MODE_6 MANUAL
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// STARTUP BEHAVIOUR // STARTUP BEHAVIOUR

3
APMrover2/control_modes.cpp
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@ -9,9 +9,6 @@ Mode *Rover::control_mode_from_num(const enum mode num)
case MANUAL: case MANUAL:
ret = &mode_manual; ret = &mode_manual;
break; break;
case LEARNING:
ret = &mode_learning;
break;
case STEERING: case STEERING:
ret = &mode_steering; ret = &mode_steering;
break; break;

1
APMrover2/defines.h
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@ -27,7 +27,6 @@ enum ch7_option {
// ---------------- // ----------------
enum mode { enum mode {
MANUAL = 0, MANUAL = 0,
LEARNING = 2,
STEERING = 3, STEERING = 3,
HOLD = 4, HOLD = 4,
AUTO = 10, AUTO = 10,

11
APMrover2/mode.h
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@ -265,17 +265,6 @@ public:
}; };
class ModeLearning : public ModeManual
{
public:
uint32_t mode_number() const override { return LEARNING; }
// attributes for mavlink system status reporting
bool has_manual_input() const override { return true; }
};
class ModeRTL : public Mode class ModeRTL : public Mode
{ {
public: public:

2
APMrover2/mode_learning.cpp
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@ -1,2 +0,0 @@
#include "mode.h"
#include "Rover.h"

3
APMrover2/system.cpp
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@ -289,9 +289,6 @@ void Rover::notify_mode(enum mode new_mode)
case MANUAL: case MANUAL:
notify.set_flight_mode_str("MANU"); notify.set_flight_mode_str("MANU");
break; break;
case LEARNING:
notify.set_flight_mode_str("LERN");
break;
case STEERING: case STEERING:
notify.set_flight_mode_str("STER"); notify.set_flight_mode_str("STER");
break; break;