Copter: remove unused flags and consolidate ap and ap_system

ArduCopter/AP_State.pde

@@ -123,22 +123,6 @@ void set_land_complete(bool b)
 
 // ---------------------------------------------
 
-void set_compass_healthy(bool b)
-{
-    if(ap.compass_status != b) {
-        if(b) {
-            // compass has just recovered so log to the dataflash
-            Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_ERROR_RESOLVED);
-        }else{
-            // compass has just failed so log an error to the dataflash
-            Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_COMPASS_FAILED_TO_READ);
-        }
-    }
-    ap.compass_status = b;
-}
-
-// ---------------------------------------------
-
 void set_pre_arm_check(bool b)
 {
     if(ap.pre_arm_check != b) {

ArduCopter/ArduCopter.pde

@@ -388,25 +388,16 @@ static union {
         uint8_t do_flip             : 1; // 7   // Used to enable flip code
         uint8_t takeoff_complete    : 1; // 8
         uint8_t land_complete       : 1; // 9   // true if we have detected a landing
-        uint8_t compass_status      : 1; // 10  // unused remove
+
-        uint8_t gps_status          : 1; // 11  // unused remove
+        uint8_t new_radio_frame     : 1; // 10      // Set true if we have new PWM data to act on from the Radio
+        uint8_t CH7_flag            : 2; // 11,12   // ch7 aux switch : 0 is low or false, 1 is center or true, 2 is high
+        uint8_t CH8_flag            : 2; // 13,14   // ch8 aux switch : 0 is low or false, 1 is center or true, 2 is high
+        uint8_t usb_connected       : 1; // 15      // true if APM is powered from USB connection
+        uint8_t yaw_stopped         : 1; // 16      // Used to manage the Yaw hold capabilities
     };
     uint32_t value;
 } ap;
 
-
-static struct AP_System{
-    uint8_t GPS_light               : 1; // 0   // Solid indicates we have full 3D lock and can navigate, flash = read
-    uint8_t arming_light            : 1; // 1   // Solid indicates armed state, flashing is disarmed, double flashing is disarmed and failing pre-arm checks
-    uint8_t new_radio_frame         : 1; // 2   // Set true if we have new PWM data to act on from the Radio
-    uint8_t CH7_flag                : 2; // 3,4 // ch7 aux switch : 0 is low or false, 1 is center or true, 2 is high
-    uint8_t CH8_flag                : 2; // 5,6 // ch8 aux switch : 0 is low or false, 1 is center or true, 2 is high
-    uint8_t usb_connected           : 1; // 7   // true if APM is powered from USB connection
-    uint8_t yaw_stopped             : 1; // 8   // Used to manage the Yaw hold capabilities
-    uint8_t                         : 7; // 9-15 // Fill bit field to 16 bits
-
-} ap_system;
-
 ////////////////////////////////////////////////////////////////////////////////
 // Radio
 ////////////////////////////////////////////////////////////////////////////////
@@ -1230,9 +1221,6 @@ static void slow_loop()
         // check if we've lost contact with the ground station
         failsafe_gcs_check();
 
-        // record if the compass is healthy
-        set_compass_healthy(compass.healthy);
-
         if(superslow_loopCounter > 1200) {
 #if HIL_MODE != HIL_MODE_ATTITUDE
             if(g.rc_3.control_in == 0 && control_mode == STABILIZE && g.compass_enabled) {
@@ -1814,7 +1802,7 @@ void update_roll_pitch_mode(void)
 #if AUTOTUNE == ENABLED
     case ROLL_PITCH_AUTOTUNE:
         // apply SIMPLE mode transform
-        if(ap.simple_mode && ap_system.new_radio_frame) {
+        if(ap.simple_mode && ap.new_radio_frame) {
             update_simple_mode();
         }
 
@@ -1837,9 +1825,9 @@ void update_roll_pitch_mode(void)
     }
 	#endif //HELI_FRAME
 
-    if(ap_system.new_radio_frame) {
+    if(ap.new_radio_frame) {
         // clear new radio frame info
-        ap_system.new_radio_frame = false;
+        ap.new_radio_frame = false;
     }
 }
 
@@ -1867,7 +1855,7 @@ void update_simple_mode(void)
     float rollx, pitchx;
 
     // exit immediately if no new radio frame or not in simple mode
-    if (ap.simple_mode == 0 || !ap_system.new_radio_frame) {
+    if (ap.simple_mode == 0 || !ap.new_radio_frame) {
         return;
     }
 

ArduCopter/control_modes.pde

@@ -73,22 +73,22 @@ static void read_aux_switches()
 
     // check if ch7 switch has changed position
     switch_position = read_3pos_switch(g.rc_7.radio_in);
-    if (ap_system.CH7_flag != switch_position) {
+    if (ap.CH7_flag != switch_position) {
         // set the CH7 flag
-        ap_system.CH7_flag = switch_position;
+        ap.CH7_flag = switch_position;
 
         // invoke the appropriate function
-        do_aux_switch_function(g.ch7_option, ap_system.CH7_flag);
+        do_aux_switch_function(g.ch7_option, ap.CH7_flag);
     }
 
     // check if Ch8 switch has changed position
     switch_position = read_3pos_switch(g.rc_8.radio_in);
-    if (ap_system.CH8_flag != switch_position) {
+    if (ap.CH8_flag != switch_position) {
         // set the CH8 flag
-        ap_system.CH8_flag = switch_position;
+        ap.CH8_flag = switch_position;
 
         // invoke the appropriate function
-        do_aux_switch_function(g.ch8_option, ap_system.CH8_flag);
+        do_aux_switch_function(g.ch8_option, ap.CH8_flag);
     }
 }
 
@@ -96,8 +96,8 @@ static void read_aux_switches()
 static void init_aux_switches()
 {
     // set the CH7 flag
-    ap_system.CH7_flag = read_3pos_switch(g.rc_7.radio_in);
+    ap.CH7_flag = read_3pos_switch(g.rc_7.radio_in);
-    ap_system.CH8_flag = read_3pos_switch(g.rc_8.radio_in);
+    ap.CH8_flag = read_3pos_switch(g.rc_8.radio_in);
 
     // init channel 7 options
     switch(g.ch7_option) {
@@ -108,7 +108,7 @@ static void init_aux_switches()
         case AUX_SWITCH_SUPERSIMPLE_MODE:
         case AUX_SWITCH_ACRO_TRAINER:
         case AUX_SWITCH_SPRAYER:
-            do_aux_switch_function(g.ch7_option, ap_system.CH7_flag);
+            do_aux_switch_function(g.ch7_option, ap.CH7_flag);
             break;
     }
     // init channel 8 option
@@ -120,7 +120,7 @@ static void init_aux_switches()
         case AUX_SWITCH_SUPERSIMPLE_MODE:
         case AUX_SWITCH_ACRO_TRAINER:
         case AUX_SWITCH_SPRAYER:
-            do_aux_switch_function(g.ch8_option, ap_system.CH8_flag);
+            do_aux_switch_function(g.ch8_option, ap.CH8_flag);
             break;
     }
 }

ArduCopter/leds.pde

@@ -118,7 +118,7 @@ static void update_copter_leds(void)
 
     // AUX led control
     if (g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX) {
-        if (ap_system.CH7_flag) {
+        if (ap.CH7_flag) {
             copter_leds_aux_on();                                   //if sub-control of Ch7 is high, turn Aux LED on
         } else {
             copter_leds_aux_off();                                  //if sub-control of Ch7 is low, turn Aux LED off

ArduCopter/radio.pde

@@ -117,7 +117,7 @@ static void read_radio()
     static uint32_t last_update = 0;
     if (hal.rcin->valid_channels() > 0) {
         last_update = millis();
-        ap_system.new_radio_frame = true;
+        ap.new_radio_frame = true;
         uint16_t periods[8];
         hal.rcin->read(periods,8);
         g.rc_1.set_pwm(periods[rcmap.roll()-1]);

ArduCopter/sensors.pde

@@ -110,7 +110,7 @@ static void read_battery(void)
 
     // check for low voltage or current if the low voltage check hasn't already been triggered
     // we only check when we're not powered by USB to avoid false alarms during bench tests
-    if (!ap_system.usb_connected && !failsafe.low_battery && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
+    if (!ap.usb_connected && !failsafe.low_battery && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
         low_battery_event();
     }
 }

ArduCopter/system.pde

@@ -135,7 +135,7 @@ static void init_ardupilot()
 
     // we start by assuming USB connected, as we initialed the serial
     // port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.    
-    ap_system.usb_connected = true;
+    ap.usb_connected = true;
     check_usb_mux();
 
 #if CONFIG_HAL_BOARD != HAL_BOARD_APM2
@@ -526,19 +526,19 @@ static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
 static void check_usb_mux(void)
 {
     bool usb_check = hal.gpio->usb_connected();
-    if (usb_check == ap_system.usb_connected) {
+    if (usb_check == ap.usb_connected) {
         return;
     }
 
     // the user has switched to/from the telemetry port
-    ap_system.usb_connected = usb_check;
+    ap.usb_connected = usb_check;
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
     // the APM2 has a MUX setup where the first serial port switches
     // between USB and a TTL serial connection. When on USB we use
     // SERIAL0_BAUD, but when connected as a TTL serial port we run it
     // at SERIAL3_BAUD.
-    if (ap_system.usb_connected) {
+    if (ap.usb_connected) {
         hal.uartA->begin(SERIAL0_BAUD);
     } else {
         hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));

ArduCopter/toy.pde

@@ -97,15 +97,15 @@ void roll_pitch_toy()
 
     if(g.rc_1.control_in != 0) {    // roll
         get_acro_yaw(yaw_rate/2);
-        ap_system.yaw_stopped = false;
+        ap.yaw_stopped = false;
         yaw_timer = 150;
 
-    }else if (!ap_system.yaw_stopped) {
+    }else if (!ap.yaw_stopped) {
         get_acro_yaw(0);
         yaw_timer--;
 
         if((yaw_timer == 0) || (fabsf(omega.z) < 0.17f)) {
-            ap_system.yaw_stopped = true;
+            ap.yaw_stopped = true;
             nav_yaw = ahrs.yaw_sensor;
         }
     }else{