Plane: removed ancient "mix_mode" type elevon mixing

this has been deprecated for a long time

ArduPlane/Parameters.cpp

@@ -692,35 +692,6 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Standard
     GSCALAR(auto_trim,              "TRIM_AUTO",      AUTO_TRIM),
 
-    // @Param: ELEVON_MIXING
-    // @DisplayName: Elevon mixing
-    // @Description: This enables an older form of elevon mixing which is now deprecated. Please see the ELEVON_OUTPUT option for setting up elevons. The ELEVON_MIXING option should be set to 0 for elevon planes except for backwards compatibility with older setups.
-    // @Values: 0:Disabled,1:Enabled
-    // @User: User
-    GSCALAR(mix_mode,               "ELEVON_MIXING",  ELEVON_MIXING),
-
-    // @Param: ELEVON_REVERSE
-    // @DisplayName: Elevon reverse
-    // @Description: Reverse elevon mixing
-    // @Values: 0:Disabled,1:Enabled
-    // @User: User
-    GSCALAR(reverse_elevons,        "ELEVON_REVERSE", ELEVON_REVERSE),
-
-
-    // @Param: ELEVON_CH1_REV
-    // @DisplayName: Elevon reverse
-    // @Description: Reverse elevon channel 1
-    // @Values: -1:Disabled,1:Enabled
-    // @User: User
-    GSCALAR(reverse_ch1_elevon,     "ELEVON_CH1_REV", ELEVON_CH1_REVERSE),
-
-    // @Param: ELEVON_CH2_REV
-    // @DisplayName: Elevon reverse
-    // @Description: Reverse elevon channel 2
-    // @Values: -1:Disabled,1:Enabled
-    // @User: User
-    GSCALAR(reverse_ch2_elevon,     "ELEVON_CH2_REV", ELEVON_CH2_REVERSE),
-
     // @Param: VTAIL_OUTPUT
     // @DisplayName: VTail output
     // @Description: Enable VTail output in software. If enabled then the APM will provide software VTail mixing on the elevator and rudder channels. There are 8 different mixing modes available, which refer to the 8 ways the elevator can be mapped to the two VTail servos. Please also see the MIXING_GAIN parameter for the output gain of the mixer.

ArduPlane/Parameters.h

@@ -60,9 +60,9 @@ public:
         k_param_log_bitmask_old,  // unused
         k_param_pitch_trim_cd,
         k_param_mix_mode,
-        k_param_reverse_elevons,
+        k_param_reverse_elevons, // unused
-        k_param_reverse_ch1_elevon,
+        k_param_reverse_ch1_elevon, // unused
-        k_param_reverse_ch2_elevon,
+        k_param_reverse_ch2_elevon, // unused
         k_param_flap_1_percent,
         k_param_flap_1_speed,
         k_param_flap_2_percent,
@@ -457,14 +457,10 @@ public:
     // Misc
     //
     AP_Int8 auto_trim;
-    AP_Int8 mix_mode;
     AP_Int8 vtail_output;
     AP_Int8 elevon_output;
     AP_Int8 rudder_only;
     AP_Float mixing_gain;
-    AP_Int8 reverse_elevons;
-    AP_Int8 reverse_ch1_elevon;
-    AP_Int8 reverse_ch2_elevon;
     AP_Int16 mixing_offset;
     AP_Int16 dspoiler_rud_rate;
     AP_Int16 num_resets;

ArduPlane/radio.cpp

@@ -187,15 +187,8 @@ void Plane::read_radio()
     elevon.ch2_temp = channel_pitch->read();
     uint16_t pwm_roll, pwm_pitch;
 
-    if (g.mix_mode == 0) {
+    pwm_roll = elevon.ch1_temp;
-        pwm_roll = elevon.ch1_temp;
+    pwm_pitch = elevon.ch2_temp;
-        pwm_pitch = elevon.ch2_temp;
-    }else{
-        pwm_roll = BOOL_TO_SIGN(g.reverse_elevons) * (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int16_t(elevon.ch2_temp - elevon.trim2) 
-         - BOOL_TO_SIGN(g.reverse_ch1_elevon) * int16_t(elevon.ch1_temp - elevon.trim1)) / 2 + 1500;
-        pwm_pitch = (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int16_t(elevon.ch2_temp - elevon.trim2) 
-         + BOOL_TO_SIGN(g.reverse_ch1_elevon) * int16_t(elevon.ch1_temp - elevon.trim1)) / 2 + 1500;
-    }
 
     RC_Channels::set_pwm_all();
     

ArduPlane/servos.cpp

@@ -356,25 +356,6 @@ void Plane::set_servos_manual_passthrough(void)
     SRV_Channels::copy_radio_in_out(SRV_Channel::k_elevator_with_input);
 }
 
-/*
-  old (deprecated) elevon support
- */
-void Plane::set_servos_old_elevons(void)
-{
-    /*Elevon mode*/
-    float ch1;
-    float ch2;
-    int16_t roll  = SRV_Channels::get_output_scaled(SRV_Channel::k_aileron);
-    int16_t pitch = SRV_Channels::get_output_scaled(SRV_Channel::k_elevator);
-    ch1 = pitch - (BOOL_TO_SIGN(g.reverse_elevons) * roll);
-    ch2 = pitch + (BOOL_TO_SIGN(g.reverse_elevons) * roll);
-    
-    // directly set the radio_out values for elevon mode
-    SRV_Channels::set_output_pwm_first(SRV_Channel::k_aileron, elevon.trim1 + (BOOL_TO_SIGN(g.reverse_ch1_elevon) * (ch1 * 500.0f/ SERVO_MAX)));
-    SRV_Channels::set_output_pwm_first(SRV_Channel::k_elevator, elevon.trim2 + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0f/ SERVO_MAX)));
-}
-
-
 /*
   calculate any throttle limits based on the watt limiter
  */
@@ -430,17 +411,13 @@ void Plane::throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle)
  */
 void Plane::set_servos_controlled(void)
 {
-    if (g.mix_mode != 0) {
+    // both types of secondary aileron are slaved to the roll servo out
-        set_servos_old_elevons();
+    SRV_Channels::set_output_scaled(SRV_Channel::k_aileron_with_input,
-    } else {
+                                    SRV_Channels::get_output_scaled(SRV_Channel::k_aileron));
-        // both types of secondary aileron are slaved to the roll servo out
-        SRV_Channels::set_output_scaled(SRV_Channel::k_aileron_with_input,
-                                        SRV_Channels::get_output_scaled(SRV_Channel::k_aileron));
 
-        // both types of secondary elevator are slaved to the pitch servo out
+    // both types of secondary elevator are slaved to the pitch servo out
-        SRV_Channels::set_output_scaled(SRV_Channel::k_elevator_with_input,
+    SRV_Channels::set_output_scaled(SRV_Channel::k_elevator_with_input,
-                                            SRV_Channels::get_output_scaled(SRV_Channel::k_elevator));
+                                    SRV_Channels::get_output_scaled(SRV_Channel::k_elevator));
-    }
 
     if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
         // allow landing to override servos if it would like to