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Copter: mission library handles gripper

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This commit is contained in:
Peter Barker 2018-10-23 15:57:01 +11:00 committed by Peter Barker
parent 2157999307
commit 1eec264d6c
2 changed files with 0 additions and 31 deletions
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3
ArduCopter/mode.h
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@ -378,9 +378,6 @@ private:
#if PARACHUTE == ENABLED
void do_parachute(const AP_Mission::Mission_Command& cmd);
#endif
#if GRIPPER_ENABLED == ENABLED
void do_gripper(const AP_Mission::Mission_Command& cmd);
#endif
#if WINCH_ENABLED == ENABLED
void do_winch(const AP_Mission::Mission_Command& cmd);
#endif

28
ArduCopter/mode_auto.cpp
View File

@ -519,12 +519,6 @@ bool Copter::ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
break;
#endif
#if GRIPPER_ENABLED == ENABLED
case MAV_CMD_DO_GRIPPER: // Mission command to control gripper
do_gripper(cmd);
break;
#endif
#if NAV_GUIDED == ENABLED
case MAV_CMD_DO_GUIDED_LIMITS: // 220 accept guided mode limits
do_guided_limits(cmd);
@ -714,7 +708,6 @@ bool Copter::ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_PARACHUTE: // assume parachute was released successfully
case MAV_CMD_DO_GRIPPER:
case MAV_CMD_DO_GUIDED_LIMITS:
case MAV_CMD_DO_FENCE_ENABLE:
case MAV_CMD_DO_WINCH:
@ -1381,27 +1374,6 @@ void Copter::ModeAuto::do_parachute(const AP_Mission::Mission_Command& cmd)
}
#endif
#if GRIPPER_ENABLED == ENABLED
// do_gripper - control gripper
void Copter::ModeAuto::do_gripper(const AP_Mission::Mission_Command& cmd)
{
// Note: we ignore the gripper num parameter because we only support one gripper
switch (cmd.content.gripper.action) {
case GRIPPER_ACTION_RELEASE:
g2.gripper.release();
Log_Write_Event(DATA_GRIPPER_RELEASE);
break;
case GRIPPER_ACTION_GRAB:
g2.gripper.grab();
Log_Write_Event(DATA_GRIPPER_GRAB);
break;
default:
// do nothing
break;
}
}
#endif
#if WINCH_ENABLED == ENABLED
// control winch based on mission command
void Copter::ModeAuto::do_winch(const AP_Mission::Mission_Command& cmd)