From 786df975f05265818e9641d5a814335d30dbbb44 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 2 Jan 2025 19:17:16 +1100 Subject: [PATCH] AP_Mount: remove MOUNT_CONFIGURE and MOUNT_CONTROL support --- libraries/AP_Mount/AP_Mount.cpp | 44 ----------------------- libraries/AP_Mount/AP_Mount.h | 6 ---- libraries/AP_Mount/AP_Mount_Backend.cpp | 46 ------------------------- libraries/AP_Mount/AP_Mount_Backend.h | 10 ------ 4 files changed, 106 deletions(-) diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp index a702c7db57..cc1a166a74 100644 --- a/libraries/AP_Mount/AP_Mount.cpp +++ b/libraries/AP_Mount/AP_Mount.cpp @@ -584,40 +584,6 @@ void AP_Mount::handle_global_position_int(const mavlink_message_t &msg) } } -#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED -/// Change the configuration of the mount -void AP_Mount::handle_mount_configure(const mavlink_message_t &msg) -{ - auto *backend = get_primary(); - if (backend == nullptr) { - return; - } - - mavlink_mount_configure_t packet; - mavlink_msg_mount_configure_decode(&msg, &packet); - - // send message to backend - backend->handle_mount_configure(packet); -} -#endif - -#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED -/// Control the mount (depends on the previously set mount configuration) -void AP_Mount::handle_mount_control(const mavlink_message_t &msg) -{ - auto *backend = get_primary(); - if (backend == nullptr) { - return; - } - - mavlink_mount_control_t packet; - mavlink_msg_mount_control_decode(&msg, &packet); - - // send message to backend - backend->handle_mount_control(packet); -} -#endif - #if HAL_GCS_ENABLED // send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS void AP_Mount::send_gimbal_device_attitude_status(mavlink_channel_t chan) @@ -998,16 +964,6 @@ void AP_Mount::handle_message(mavlink_channel_t chan, const mavlink_message_t &m case MAVLINK_MSG_ID_GIMBAL_REPORT: handle_gimbal_report(chan, msg); break; -#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED - case MAVLINK_MSG_ID_MOUNT_CONFIGURE: - handle_mount_configure(msg); - break; -#endif -#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED - case MAVLINK_MSG_ID_MOUNT_CONTROL: - handle_mount_control(msg); - break; -#endif case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: handle_global_position_int(msg); break; diff --git a/libraries/AP_Mount/AP_Mount.h b/libraries/AP_Mount/AP_Mount.h index 0984d23b3d..342f509326 100644 --- a/libraries/AP_Mount/AP_Mount.h +++ b/libraries/AP_Mount/AP_Mount.h @@ -321,12 +321,6 @@ private: AP_Mount_Backend *get_instance(uint8_t instance) const; void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg); -#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED - void handle_mount_configure(const mavlink_message_t &msg); -#endif -#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED - void handle_mount_control(const mavlink_message_t &msg); -#endif MAV_RESULT handle_command_do_mount_configure(const mavlink_command_int_t &packet); MAV_RESULT handle_command_do_mount_control(const mavlink_command_int_t &packet); diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp index 531d01c30a..71a581b288 100644 --- a/libraries/AP_Mount/AP_Mount_Backend.cpp +++ b/libraries/AP_Mount/AP_Mount_Backend.cpp @@ -189,14 +189,6 @@ void AP_Mount_Backend::set_target_sysid(uint8_t sysid) } } -#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED -// process MOUNT_CONFIGURE messages received from GCS. deprecated. -void AP_Mount_Backend::handle_mount_configure(const mavlink_mount_configure_t &packet) -{ - set_mode((MAV_MOUNT_MODE)packet.mount_mode); -} -#endif - #if HAL_GCS_ENABLED // send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS void AP_Mount_Backend::send_gimbal_device_attitude_status(mavlink_channel_t chan) @@ -299,44 +291,6 @@ void AP_Mount_Backend::send_gimbal_manager_status(mavlink_channel_t chan) 0); // secondary control component id } -#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED -// process MOUNT_CONTROL messages received from GCS. deprecated. -void AP_Mount_Backend::handle_mount_control(const mavlink_mount_control_t &packet) -{ - switch (get_mode()) { - case MAV_MOUNT_MODE_MAVLINK_TARGETING: - // input_a : Pitch in centi-degrees (earth-frame) - // input_b : Roll in centi-degrees (earth-frame) - // input_c : Yaw in centi-degrees (interpreted as body-frame) - set_angle_target(packet.input_b * 0.01, packet.input_a * 0.01, packet.input_c * 0.01, false); - break; - - case MAV_MOUNT_MODE_GPS_POINT: { - // input_a : lat in degE7 - // input_b : lon in degE7 - // input_c : alt in cm (interpreted as above home) - const Location target_location { - packet.input_a, - packet.input_b, - packet.input_c, - Location::AltFrame::ABOVE_HOME - }; - set_roi_target(target_location); - break; - } - - case MAV_MOUNT_MODE_RETRACT: - case MAV_MOUNT_MODE_NEUTRAL: - case MAV_MOUNT_MODE_RC_TARGETING: - case MAV_MOUNT_MODE_SYSID_TARGET: - case MAV_MOUNT_MODE_HOME_LOCATION: - default: - // no effect in these modes - break; - } -} -#endif - // handle do_mount_control command. Returns MAV_RESULT_ACCEPTED on success MAV_RESULT AP_Mount_Backend::handle_command_do_mount_control(const mavlink_command_int_t &packet) { diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h index 62b46e0c4e..8628694e82 100644 --- a/libraries/AP_Mount/AP_Mount_Backend.h +++ b/libraries/AP_Mount/AP_Mount_Backend.h @@ -107,16 +107,6 @@ public: // requires original message in order to extract caller's sysid and compid MAV_RESULT handle_command_do_gimbal_manager_configure(const mavlink_command_int_t &packet, const mavlink_message_t &msg); -#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED - // process MOUNT_CONFIGURE messages received from GCS. deprecated. - void handle_mount_configure(const mavlink_mount_configure_t &msg); -#endif - -#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED - // process MOUNT_CONTROL messages received from GCS. deprecated. - void handle_mount_control(const mavlink_mount_control_t &packet); -#endif - // send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS void send_gimbal_device_attitude_status(mavlink_channel_t chan);