mirror of https://github.com/ArduPilot/ardupilot
AP_Airspeed: remove HIL support
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1122642f50
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77718b1611
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@ -395,10 +395,6 @@ float AP_Airspeed::get_pressure(uint8_t i)
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if (!enabled(i)) {
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return 0;
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}
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if (state[i].hil_set) {
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state[i].healthy = true;
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return state[i].hil_pressure;
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}
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float pressure = 0;
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if (sensor[i]) {
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state[i].healthy = sensor[i]->get_differential_pressure(pressure);
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@ -625,17 +621,6 @@ void AP_Airspeed::Log_Airspeed()
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}
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}
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void AP_Airspeed::setHIL(float airspeed, float diff_pressure, float temperature)
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{
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state[0].raw_airspeed = airspeed;
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state[0].airspeed = airspeed;
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state[0].last_pressure = diff_pressure;
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state[0].last_update_ms = AP_HAL::millis();
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state[0].hil_pressure = diff_pressure;
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state[0].hil_set = true;
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state[0].healthy = true;
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}
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bool AP_Airspeed::use(uint8_t i) const
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{
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if (!enabled(i) || !param[i].use) {
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@ -105,11 +105,6 @@ public:
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}
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bool enabled(void) const { return enabled(primary); }
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// used by HIL to set the airspeed
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void set_HIL(float airspeed) {
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state[primary].airspeed = airspeed;
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}
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// return the differential pressure in Pascal for the last airspeed reading
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float get_differential_pressure(uint8_t i) const {
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return state[i].last_pressure;
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@ -132,14 +127,10 @@ public:
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// return true if all enabled sensors are healthy
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bool all_healthy(void) const;
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void setHIL(float pressure) { state[0].healthy=state[0].hil_set=true; state[0].hil_pressure=pressure; }
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// return time in ms of last update
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uint32_t last_update_ms(uint8_t i) const { return state[i].last_update_ms; }
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uint32_t last_update_ms(void) const { return last_update_ms(primary); }
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void setHIL(float airspeed, float diff_pressure, float temperature);
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static const struct AP_Param::GroupInfo var_info[];
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enum pitot_tube_order { PITOT_TUBE_ORDER_POSITIVE = 0,
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@ -217,11 +208,9 @@ private:
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float last_pressure;
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float filtered_pressure;
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float corrected_pressure;
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float hil_pressure;
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uint32_t last_update_ms;
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bool use_zero_offset;
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bool healthy;
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bool hil_set;
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// state of runtime calibration
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struct {
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