Sub: Remove precision landing

ArduSub/APM_Config.h

@@ -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

ArduSub/Log.cpp

@@ -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" },
 };

ArduSub/Parameters.cpp

@@ -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),

ArduSub/Parameters.h

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

ArduSub/Sub.h

@@ -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();

ArduSub/defines.h

@@ -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
 

ArduSub/make.inc

@@ -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

ArduSub/precision_landing.cpp

@@ -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

ArduSub/system.cpp

@@ -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

ArduSub/wscript

@@ -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',