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Sub: Clean out/remove references to old landing code

This commit is contained in:
Jacob Walser 2017-03-09 12:25:54 -05:00 committed by Randy Mackay
parent 9f5605ff57
commit 93c6f64a91
9 changed files with 16 additions and 90 deletions
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2
ArduSub/APM_Config.h
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@ -25,8 +25,6 @@
// other settings // other settings
//#define THROTTLE_IN_DEADBAND 100 // redefine size of throttle deadband in pwm (0 ~ 1000) //#define THROTTLE_IN_DEADBAND 100 // redefine size of throttle deadband in pwm (0 ~ 1000)
//#define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM ENABLED // when set to ENABLED vehicle will only disarm after landing (in AUTO, LAND or RTL) if pilot has put throttle to zero
//#define HIL_MODE HIL_MODE_SENSORS // build for hardware-in-the-loop simulation //#define HIL_MODE HIL_MODE_SENSORS // build for hardware-in-the-loop simulation
// User Hooks : For User Developed code that you wish to run // User Hooks : For User Developed code that you wish to run

11
ArduSub/GCS_Mavlink.cpp
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@ -1174,12 +1174,11 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
} }
break; break;
// Not supported in sub case MAV_CMD_NAV_LAND:
// case MAV_CMD_NAV_LAND: if (sub.set_mode(SURFACE, MODE_REASON_GCS_COMMAND)) {
// if (sub.set_mode(LAND, MODE_REASON_GCS_COMMAND)) { result = MAV_RESULT_ACCEPTED;
// result = MAV_RESULT_ACCEPTED; }
// } break;
// break;
case MAV_CMD_CONDITION_YAW: case MAV_CMD_CONDITION_YAW:
// param1 : target angle [0-360] // param1 : target angle [0-360]

4
ArduSub/Parameters.cpp
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@ -838,8 +838,8 @@ const AP_Param::Info Sub::var_info[] = {
// @Param: TERRAIN_FOLLOW // @Param: TERRAIN_FOLLOW
// @DisplayName: Terrain Following use control // @DisplayName: Terrain Following use control
// @Description: This enables terrain following for RTL and LAND flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must support sending terrain data to the aircraft. In RTL the RTL_ALT will be considered a height above the terrain. In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home). This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain. // @Description: This enables terrain following for RTL and SURFACE flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must support sending terrain data to the aircraft. In RTL the RTL_ALT will be considered a height above the terrain. In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home). This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain.
// @Values: 0:Do Not Use in RTL and Land,1:Use in RTL and Land // @Values: 0:Do Not Use in RTL and SURFACE,1:Use in RTL and SURFACE
// @User: Standard // @User: Standard
GSCALAR(terrain_follow, "TERRAIN_FOLLOW", 0), GSCALAR(terrain_follow, "TERRAIN_FOLLOW", 0),

5
ArduSub/Sub.h
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@ -249,7 +249,6 @@ private:
enum HomeState home_state : 2; // home status (unset, set, locked) enum HomeState home_state : 2; // home status (unset, set, locked)
uint8_t using_interlock : 1; // aux switch motor interlock function is in use uint8_t using_interlock : 1; // aux switch motor interlock function is in use
uint8_t motor_emergency_stop: 1; // motor estop switch, shuts off motors when enabled uint8_t motor_emergency_stop: 1; // motor estop switch, shuts off motors when enabled
uint8_t land_repo_active : 1; // true if the pilot is overriding the landing position
uint8_t at_bottom : 1; // true if we are at the bottom uint8_t at_bottom : 1; // true if we are at the bottom
uint8_t at_surface : 1; // true if we are at the surface uint8_t at_surface : 1; // true if we are at the surface
uint8_t depth_sensor_present: 1; // true if we have an external baro connected uint8_t depth_sensor_present: 1; // true if we have an external baro connected
@ -342,7 +341,7 @@ private:
uint32_t loiter_time; // How long have we been loitering - The start time in millis uint32_t loiter_time; // How long have we been loitering - The start time in millis
// Delay the next navigation command // Delay the next navigation command
int32_t nav_delay_time_max; // used for delaying the navigation commands (eg land,takeoff etc.) int32_t nav_delay_time_max; // used for delaying the navigation commands
uint32_t nav_delay_time_start; uint32_t nav_delay_time_start;
// Battery Sensors // Battery Sensors
@ -585,7 +584,6 @@ private:
bool far_from_EKF_origin(const Location& loc); bool far_from_EKF_origin(const Location& loc);
void set_system_time_from_GPS(); void set_system_time_from_GPS();
void exit_mission(); void exit_mission();
bool verify_land();
bool verify_loiter_unlimited(); bool verify_loiter_unlimited();
bool verify_loiter_time(); bool verify_loiter_time();
bool verify_wait_delay(); bool verify_wait_delay();
@ -637,7 +635,6 @@ private:
void guided_limit_set(uint32_t timeout_ms, float alt_min_cm, float alt_max_cm, float horiz_max_cm); void guided_limit_set(uint32_t timeout_ms, float alt_min_cm, float alt_max_cm, float horiz_max_cm);
void guided_limit_init_time_and_pos(); void guided_limit_init_time_and_pos();
bool guided_limit_check(); bool guided_limit_check();
float get_land_descent_speed();
bool velhold_init(bool ignore_checks); bool velhold_init(bool ignore_checks);
void velhold_run(); void velhold_run();
bool poshold_init(bool ignore_checks); bool poshold_init(bool ignore_checks);

3
ArduSub/commands_logic.cpp
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@ -569,7 +569,7 @@ bool Sub::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
} }
} }
// verify_land - returns true if landing has been completed // verify_surface - returns true if surface procedure has been completed
bool Sub::verify_surface(const AP_Mission::Mission_Command& cmd) bool Sub::verify_surface(const AP_Mission::Mission_Command& cmd)
{ {
bool retval = false; bool retval = false;
@ -590,7 +590,6 @@ bool Sub::verify_surface(const AP_Mission::Mission_Command& cmd)
break; break;
case AUTO_SURFACE_STATE_ASCEND: case AUTO_SURFACE_STATE_ASCEND:
// rely on THROTTLE_LAND mode to correctly update landing status
if (wp_nav.reached_wp_destination()) { if (wp_nav.reached_wp_destination()) {
retval = true; retval = true;
} }

43
ArduSub/config.h
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@ -225,7 +225,7 @@
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// EKF Failsafe // EKF Failsafe
#ifndef FS_EKF_ACTION_DEFAULT #ifndef FS_EKF_ACTION_DEFAULT
# define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_DISABLED // EKF failsafe triggers land by default # define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_DISABLED // EKF failsafe
#endif #endif
#ifndef FS_EKF_THRESHOLD_DEFAULT #ifndef FS_EKF_THRESHOLD_DEFAULT
# define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered # define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered
@ -312,45 +312,6 @@
# define FS_THR_VALUE_DEFAULT 975 # define FS_THR_VALUE_DEFAULT 975
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// Landing
//
#ifndef LAND_SPEED
# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s
#endif
#ifndef LAND_START_ALT
# define LAND_START_ALT -25 // altitude in cm where land controller switches to slow rate of descent
#endif
#ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM
# define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM DISABLED // we do not require pilot to reduce throttle to minimum before vehicle will disarm in AUTO, LAND or RTL
#endif
#ifndef LAND_REPOSITION_DEFAULT
# define LAND_REPOSITION_DEFAULT 1 // by default the pilot can override roll/pitch during landing
#endif
#ifndef LAND_WITH_DELAY_MS
# define LAND_WITH_DELAY_MS 4000 // default delay (in milliseconds) when a land-with-delay is triggered during a failsafe event
#endif
#ifndef LAND_CANCEL_TRIGGER_THR
# define LAND_CANCEL_TRIGGER_THR 700 // land is cancelled by input throttle above 700
#endif
//////////////////////////////////////////////////////////////////////////////
// Landing Detector
//
#ifndef LAND_DETECTOR_TRIGGER_SEC
# define LAND_DETECTOR_TRIGGER_SEC 1.0f // number of seconds to detect a landing
#endif
#ifndef LAND_DETECTOR_MAYBE_TRIGGER_SEC
# define LAND_DETECTOR_MAYBE_TRIGGER_SEC 0.2f // number of seconds that means we might be landed (used to reset horizontal position targets to prevent tipping over)
#endif
#ifndef LAND_DETECTOR_ACCEL_LPF_CUTOFF
# define LAND_DETECTOR_ACCEL_LPF_CUTOFF 1.0f // frequency cutoff of land detector accelerometer filter
#endif
#ifndef LAND_DETECTOR_ACCEL_MAX
# define LAND_DETECTOR_ACCEL_MAX 1.0f // vehicle acceleration must be under 1m/s/s
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// CAMERA TRIGGER AND CONTROL // CAMERA TRIGGER AND CONTROL
// //
@ -397,7 +358,7 @@
// RTL Mode // RTL Mode
#ifndef RTL_ALT_FINAL #ifndef RTL_ALT_FINAL
# define RTL_ALT_FINAL 0 // the altitude the vehicle will move to as the final stage of Returning to Launch. Set to zero to land. # define RTL_ALT_FINAL 0 // the altitude the vehicle will move to as the final stage of Returning to Launch.
#endif #endif
#ifndef RTL_ALT #ifndef RTL_ALT

13
ArduSub/control_auto.cpp
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@ -1,18 +1,9 @@
#include "Sub.h" #include "Sub.h"
/* /*
* control_auto.pde - init and run calls for auto flight mode * control_auto.cpp
* Contains the mission, waypoint navigation and NAV_CMD item implementation
* *
* This file contains the implementation for Land, Waypoint navigation and Takeoff from Auto mode
* Command execution code (i.e. command_logic.pde) should:
* a) switch to Auto flight mode with set_mode() function. This will cause auto_init to be called
* b) call one of the three auto initialisation functions: auto_wp_start(), auto_takeoff_start(), auto_land_start()
* c) call one of the verify functions auto_wp_verify(), auto_takeoff_verify, auto_land_verify repeated to check if the command has completed
* The main loop (i.e. fast loop) will call update_flight_modes() which will in turn call auto_run() which, based upon the auto_mode variable will call
* correct auto_wp_run, auto_takeoff_run or auto_land_run to actually implement the feature
*/
/*
* While in the auto flight mode, navigation or do/now commands can be run. * While in the auto flight mode, navigation or do/now commands can be run.
* Code in this file implements the navigation commands * Code in this file implements the navigation commands
*/ */

12
ArduSub/defines.h
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@ -62,7 +62,6 @@ enum aux_sw_func {
// AUXSW_SPRAYER = 15, // enable/disable the crop sprayer // AUXSW_SPRAYER = 15, // enable/disable the crop sprayer
AUXSW_AUTO = 16, // change to auto flight mode AUXSW_AUTO = 16, // change to auto flight mode
AUXSW_LAND = 18, // change to LAND flight mode
AUXSW_GRIPPER = 19, // Operate cargo grippers low=off, middle=neutral, high=on AUXSW_GRIPPER = 19, // Operate cargo grippers low=off, middle=neutral, high=on
// No parachute for Sub, remove // No parachute for Sub, remove
@ -76,9 +75,6 @@ enum aux_sw_func {
AUXSW_RETRACT_MOUNT = 27, // Retract Mount AUXSW_RETRACT_MOUNT = 27, // Retract Mount
AUXSW_RELAY = 28, // Relay pin on/off (only supports first relay) AUXSW_RELAY = 28, // Relay pin on/off (only supports first relay)
// No landing gear for sub, remove
// AUXSW_LANDING_GEAR = 29, // Landing gear controller
AUXSW_LOST_VEHICLE_SOUND = 30, // Play lost vehicle sound AUXSW_LOST_VEHICLE_SOUND = 30, // Play lost vehicle sound
AUXSW_MOTOR_ESTOP = 31, // Emergency Stop Switch AUXSW_MOTOR_ESTOP = 31, // Emergency Stop Switch
AUXSW_MOTOR_INTERLOCK = 32, // Motor On/Off switch AUXSW_MOTOR_INTERLOCK = 32, // Motor On/Off switch
@ -116,7 +112,7 @@ enum mode_reason_t {
MODE_REASON_EKF_FAILSAFE, MODE_REASON_EKF_FAILSAFE,
MODE_REASON_GPS_GLITCH, MODE_REASON_GPS_GLITCH,
MODE_REASON_MISSION_END, MODE_REASON_MISSION_END,
MODE_REASON_THROTTLE_LAND_ESCAPE, MODE_REASON_THROTTLE_SURFACE_ESCAPE,
MODE_REASON_FENCE_BREACH, MODE_REASON_FENCE_BREACH,
MODE_REASON_TERRAIN_FAILSAFE, MODE_REASON_TERRAIN_FAILSAFE,
MODE_REASON_SURFACE_COMPLETE, MODE_REASON_SURFACE_COMPLETE,
@ -145,7 +141,6 @@ enum mode_reason_t {
// Auto modes // Auto modes
enum AutoMode { enum AutoMode {
Auto_WP, Auto_WP,
Auto_Land,
Auto_CircleMoveToEdge, Auto_CircleMoveToEdge,
Auto_Circle, Auto_Circle,
Auto_Spline, Auto_Spline,
@ -218,7 +213,6 @@ enum RTLState {
#define DATA_ARMED 10 #define DATA_ARMED 10
#define DATA_DISARMED 11 #define DATA_DISARMED 11
#define DATA_AUTO_ARMED 15 #define DATA_AUTO_ARMED 15
#define DATA_NOT_LANDED 28
#define DATA_LOST_GPS 19 #define DATA_LOST_GPS 19
#define DATA_SET_HOME 25 #define DATA_SET_HOME 25
#define DATA_SET_SIMPLE_ON 26 #define DATA_SET_SIMPLE_ON 26
@ -238,7 +232,7 @@ enum RTLState {
#define DATA_MOTORS_INTERLOCK_DISABLED 56 #define DATA_MOTORS_INTERLOCK_DISABLED 56
#define DATA_MOTORS_INTERLOCK_ENABLED 57 #define DATA_MOTORS_INTERLOCK_ENABLED 57
#define DATA_EKF_ALT_RESET 60 #define DATA_EKF_ALT_RESET 60
#define DATA_LAND_CANCELLED_BY_PILOT 61 #define DATA_SURFACE_CANCELLED_BY_PILOT 61
#define DATA_EKF_YAW_RESET 62 #define DATA_EKF_YAW_RESET 62
#define DATA_SURFACED 63 #define DATA_SURFACED 63
#define DATA_NOT_SURFACED 64 #define DATA_NOT_SURFACED 64
@ -301,7 +295,7 @@ enum RTLState {
// Battery failsafe definitions (FS_BATT_ENABLE parameter) // Battery failsafe definitions (FS_BATT_ENABLE parameter)
#define FS_BATT_DISABLED 0 // battery failsafe disabled #define FS_BATT_DISABLED 0 // battery failsafe disabled
#define FS_BATT_LAND 1 // switch to LAND mode on battery failsafe #define FS_BATT_SURFACE 1 // switch to SURFACE mode on battery failsafe
#define FS_BATT_RTL 2 // switch to RTL mode on battery failsafe #define FS_BATT_RTL 2 // switch to RTL mode on battery failsafe
// GCS failsafe definitions (FS_GCS_ENABLE parameter) // GCS failsafe definitions (FS_GCS_ENABLE parameter)

13
ArduSub/switches.cpp
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@ -280,19 +280,6 @@ void Sub::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
} }
break; break;
case AUXSW_LAND:
// Do nothing for Sub
// if (ch_flag == AUX_SWITCH_HIGH) {
// set_mode(LAND, MODE_REASON_TX_COMMAND);
// }else{
// // return to flight mode switch's flight mode if we are currently in LAND
// if (control_mode == LAND) {
// reset_control_switch();
// }
// }
break;
case AUXSW_MISSION_RESET: case AUXSW_MISSION_RESET:
if (ch_flag == AUX_SWITCH_HIGH) { if (ch_flag == AUX_SWITCH_HIGH) {
mission.reset(); mission.reset();