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Sub: Remove precision landing

This commit is contained in:
Jacob Walser 2016-11-25 15:01:07 -05:00 committed by Andrew Tridgell
parent db56bdf8b0
commit 8aebeac6d7
10 changed files with 1 additions and 110 deletions
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1
ArduSub/APM_Config.h
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@ -29,7 +29,6 @@
//#define CLI_ENABLED DISABLED // disable the CLI (command-line-interface) to save 21K of flash space
//#define NAV_GUIDED DISABLED // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
//#define OPTFLOW DISABLED // disable optical flow sensor to save 5K of flash space
#define PRECISION_LANDING DISABLED // enable precision landing using companion computer or IRLock sensor
#define TRANSECT_ENABLED DISABLED
// features below are disabled by default on all boards

43
ArduSub/Log.cpp
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@ -625,47 +625,6 @@ struct PACKED log_Heli {
float main_rotor_speed;
};
// precision landing logging
struct PACKED log_Precland {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t healthy;
float bf_angle_x;
float bf_angle_y;
float ef_angle_x;
float ef_angle_y;
float pos_x;
float pos_y;
};
// Write an optical flow packet
void Sub::Log_Write_Precland()
{
#if PRECISION_LANDING == ENABLED
// exit immediately if not enabled
if (!precland.enabled()) {
return;
}
const Vector2f &bf_angle = precland.last_bf_angle_to_target();
const Vector2f &ef_angle = precland.last_ef_angle_to_target();
const Vector3f &target_pos_ofs = precland.last_target_pos_offset();
struct log_Precland pkt = {
LOG_PACKET_HEADER_INIT(LOG_PRECLAND_MSG),
time_us : AP_HAL::micros64(),
healthy : precland.healthy(),
bf_angle_x : degrees(bf_angle.x),
bf_angle_y : degrees(bf_angle.y),
ef_angle_x : degrees(ef_angle.x),
ef_angle_y : degrees(ef_angle.y),
pos_x : target_pos_ofs.x,
pos_y : target_pos_ofs.y
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
#endif // PRECISION_LANDING == ENABLED
}
// precision landing logging
struct PACKED log_GuidedTarget {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -731,8 +690,6 @@ const struct LogStructure Sub::log_structure[] = {
"ERR", "QBB", "TimeUS,Subsys,ECode" },
{ LOG_HELI_MSG, sizeof(log_Heli),
"HELI", "Qff", "TimeUS,DRRPM,ERRPM" },
{ LOG_PRECLAND_MSG, sizeof(log_Precland),
"PL", "QBffffff", "TimeUS,Heal,bX,bY,eX,eY,pX,pY" },
{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ" },
};

6
ArduSub/Parameters.cpp
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@ -1015,12 +1015,6 @@ const AP_Param::Info Sub::var_info[] = {
GOBJECT(optflow, "FLOW", OpticalFlow),
#endif
#if PRECISION_LANDING == ENABLED
// @Group: PLND_
// @Path: ../libraries/AC_PrecLand/AC_PrecLand.cpp
GOBJECT(precland, "PLND_", AC_PrecLand),
#endif
// @Group: RPM
// @Path: ../libraries/AP_RPM/AP_RPM.cpp
GOBJECT(rpm_sensor, "RPM", AP_RPM),

3
ArduSub/Parameters.h
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@ -117,9 +117,6 @@ public:
k_param_adsb, // 72
k_param_notify, // 73
// 74: precision landing object
k_param_precland = 74,
//
// 90: misc2
//

15
ArduSub/Sub.h
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@ -104,10 +104,6 @@
#if GRIPPER_ENABLED == ENABLED
#include <AP_Gripper/AP_Gripper.h> // gripper stuff
#endif
#if PRECISION_LANDING == ENABLED
#include <AC_PrecLand/AC_PrecLand.h>
#include <AP_IRLock/AP_IRLock.h>
#endif
// Local modules
#include "Parameters.h"
@ -260,9 +256,6 @@ private:
control_mode_t prev_control_mode;
mode_reason_t prev_control_mode_reason = MODE_REASON_UNKNOWN;
uint32_t precland_last_update_ms;
RCMapper rcmap;
// board specific config
@ -501,11 +494,6 @@ private:
AP_Terrain terrain;
#endif
// Precision Landing
#if PRECISION_LANDING == ENABLED
AC_PrecLand precland;
#endif
AP_ADSB adsb {ahrs};
// use this to prevent recursion during sensor init
@ -615,7 +603,6 @@ private:
void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high);
void Log_Write_Home_And_Origin();
void Log_Sensor_Health();
void Log_Write_Precland();
void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
void Log_Write_Vehicle_Startup_Messages();
void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page);
@ -849,8 +836,6 @@ private:
void init_compass();
void init_optflow();
void update_optical_flow(void);
void init_precland();
void update_precland();
void read_battery(void);
void read_receiver_rssi(void);
void gripper_update();

2
ArduSub/defines.h
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@ -286,7 +286,7 @@ enum ThrowModeState {
#define LOG_MOTBATT_MSG 0x1E
#define LOG_PARAMTUNE_MSG 0x1F
#define LOG_HELI_MSG 0x20
#define LOG_PRECLAND_MSG 0x21
//#define LOG_PRECLAND_MSG 0x21 // Remove
#define LOG_GUIDEDTARGET_MSG 0x22
#define LOG_PROXIMITY_MSG 0x24

2
ArduSub/make.inc
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@ -54,8 +54,6 @@ LIBRARIES += AP_Frsky_Telem
LIBRARIES += AC_Sprayer
LIBRARIES += AP_Terrain
LIBRARIES += AP_RPM
LIBRARIES += AC_PrecLand
LIBRARIES += AP_IRLock
LIBRARIES += AC_InputManager
LIBRARIES += AP_ADSB
LIBRARIES += AP_JSButton

32
ArduSub/precision_landing.cpp
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@ -1,32 +0,0 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
// functions to support precision landing
//
#include "Sub.h"
#if PRECISION_LANDING == ENABLED
void Sub::init_precland()
{
sub.precland.init();
}
void Sub::update_precland()
{
int32_t height_above_ground_cm = current_loc.alt;
// use range finder altitude if it is valid, else try to get terrain alt
if (rangefinder_alt_ok()) {
height_above_ground_cm = rangefinder_state.alt_cm;
} else if (terrain_use()) {
current_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, height_above_ground_cm);
}
sub.precland.update(height_above_ground_cm);
// log output
Log_Write_Precland();
}
#endif

5
ArduSub/system.cpp
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@ -198,11 +198,6 @@ void Sub::init_ardupilot()
camera_mount.init(&DataFlash, serial_manager);
#endif
#if PRECISION_LANDING == ENABLED
// initialise precision landing
init_precland();
#endif
#ifdef USERHOOK_INIT
USERHOOK_INIT
#endif

2
ArduSub/wscript
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@ -13,11 +13,9 @@ def build(bld):
'AC_Fence',
'AC_Avoidance',
'AC_PID',
'AC_PrecLand',
'AC_Sprayer',
'AC_WPNav',
'AP_Camera',
'AP_IRLock',
'AP_InertialNav',
'AP_JSButton',
'AP_LeakDetector',