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Sub: Remove Drift mode

This commit is contained in:
Jacob Walser 2016-11-30 23:03:32 -05:00 committed by Andrew Tridgell
parent bc4084931f
commit 41d892666b
3 changed files with 1 additions and 17 deletions
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3
ArduSub/Sub.h
View File

@ -734,9 +734,6 @@ private:
void autotune_twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max);
bool circle_init(bool ignore_checks);
void circle_run();
bool drift_init(bool ignore_checks);
void drift_run();
float get_throttle_assist(float velz, float pilot_throttle_scaled);
bool guided_init(bool ignore_checks);
bool guided_takeoff_start(float final_alt_above_home);
void guided_pos_control_start();

1
ArduSub/defines.h
View File

@ -108,7 +108,6 @@ enum control_mode_t {
CIRCLE = 7, // not implemented in sub // automatic circular flight with automatic throttle
SURFACE = 9, // automatically return to surface, pilot maintains horizontal control
OF_LOITER = 10, // deprecated
DRIFT = 11, // not implemented in sub // semi-automous position, yaw and throttle control
TRANSECT = 13, // automatic x/y velocity, automatic heading/crosstrack error compensation, automatic depth/throttle
AUTOTUNE = 15, // not implemented in sub // automatically tune the vehicle's roll and pitch gains
POSHOLD = 16, // automatic position hold with manual override, with automatic throttle

14
ArduSub/flight_mode.cpp
View File

@ -63,10 +63,6 @@ bool Sub::set_mode(control_mode_t mode, mode_reason_t reason)
success = rtl_init(ignore_checks);
break;
case DRIFT:
success = drift_init(ignore_checks);
break;
#if TRANSECT_ENABLED == ENABLED
case TRANSECT:
success = transect_init(ignore_checks);
@ -174,10 +170,6 @@ void Sub::update_flight_mode()
rtl_run();
break;
case DRIFT:
drift_run();
break;
#if TRANSECT_ENABLED == ENABLED
case TRANSECT:
transect_run();
@ -250,7 +242,6 @@ bool Sub::mode_requires_GPS(control_mode_t mode) {
case VELHOLD:
case RTL:
case CIRCLE:
case DRIFT:
case POSHOLD:
case THROW:
case TRANSECT:
@ -279,7 +270,7 @@ bool Sub::mode_has_manual_throttle(control_mode_t mode) {
// mode_allows_arming - returns true if vehicle can be armed in the specified mode
// arming_from_gcs should be set to true if the arming request comes from the ground station
bool Sub::mode_allows_arming(control_mode_t mode, bool arming_from_gcs) {
if (mode_has_manual_throttle(mode) || mode == VELHOLD || mode == ALT_HOLD || mode == POSHOLD || mode == DRIFT || mode == TRANSECT || mode == THROW || (arming_from_gcs && mode == GUIDED)) {
if (mode_has_manual_throttle(mode) || mode == VELHOLD || mode == ALT_HOLD || mode == POSHOLD || mode == TRANSECT || mode == THROW || (arming_from_gcs && mode == GUIDED)) {
return true;
}
return false;
@ -339,9 +330,6 @@ void Sub::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
case OF_LOITER:
port->print("OF_LOITER");
break;
case DRIFT:
port->print("DRIFT");
break;
case TRANSECT:
port->print("TRANSECT");
break;