mirror of https://github.com/ArduPilot/ardupilot
Copter: remove unused flags and variables
This commit is contained in:
Randy Mackay
Andrew Tridgell
parent
174318a2a9
commit
989a03a643
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@ -402,24 +402,16 @@ static union {
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struct {
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uint8_t home_is_set : 1; // 0
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uint8_t simple_mode : 2; // 1,2 // This is the state of simple mode : 0 = disabled ; 1 = SIMPLE ; 2 = SUPERSIMPLE
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uint8_t pre_arm_rc_check : 1; // 3 // true if rc input pre-arm checks have been completed successfully
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uint8_t pre_arm_check : 1; // 4 // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
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uint8_t auto_armed : 1; // 5 // stops auto missions from beginning until throttle is raised
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uint8_t logging_started : 1; // 6 // true if dataflash logging has started
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uint8_t do_flip : 1; // 7 // Used to enable flip code
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uint8_t land_complete : 1; // 8 // true if we have detected a landing
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uint8_t new_radio_frame : 1; // 9 // Set true if we have new PWM data to act on from the Radio
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uint8_t CH7_flag : 2; // 10,11 // ch7 aux switch : 0 is low or false, 1 is center or true, 2 is high
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uint8_t CH8_flag : 2; // 12,13 // ch8 aux switch : 0 is low or false, 1 is center or true, 2 is high
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uint8_t usb_connected : 1; // 14 // true if APM is powered from USB connection
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uint8_t yaw_stopped : 1; // 15 // Used to manage the Yaw hold capabilities
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uint8_t disable_stab_rate_limit : 1; // 17 // disables limits rate request from the stability controller
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uint8_t rc_receiver_present : 1; // 18 // true if we have an rc receiver present (i.e. if we've ever received an update
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uint8_t land_complete : 1; // 7 // true if we have detected a landing
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uint8_t new_radio_frame : 1; // 8 // Set true if we have new PWM data to act on from the Radio
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uint8_t CH7_flag : 2; // 9,10 // ch7 aux switch : 0 is low or false, 1 is center or true, 2 is high
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uint8_t CH8_flag : 2; // 11,12 // ch8 aux switch : 0 is low or false, 1 is center or true, 2 is high
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uint8_t usb_connected : 1; // 13 // true if APM is powered from USB connection
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uint8_t rc_receiver_present : 1; // 14 // true if we have an rc receiver present (i.e. if we've ever received an update
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};
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uint32_t value;
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} ap;
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@ -496,9 +488,6 @@ static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
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////////////////////////////////////////////////////////////////////////////////
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// PIDs
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////////////////////////////////////////////////////////////////////////////////
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// This is a convienience accessor for the IMU roll rates. It's currently the raw IMU rates
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// and not the adjusted omega rates, but the name is stuck
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static Vector3f omega;
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// This is used to hold radio tuning values for in-flight CH6 tuning
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float tuning_value;
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@ -530,8 +519,6 @@ static int32_t home_bearing;
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static int32_t home_distance;
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// distance between plane and next waypoint in cm.
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static uint32_t wp_distance;
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// navigation mode - options include NAV_NONE, NAV_LOITER, NAV_CIRCLE, NAV_WP
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static uint8_t nav_mode;
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// Register containing the index of the current navigation command in the mission script
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static int16_t command_nav_index;
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// Register containing the index of the previous navigation command in the mission script
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@ -575,62 +562,24 @@ static float super_simple_sin_yaw;
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// Stores initial bearing when armed - initial simple bearing is modified in super simple mode so not suitable
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static int32_t initial_armed_bearing;
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////////////////////////////////////////////////////////////////////////////////
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// Rate contoller targets
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////////////////////////////////////////////////////////////////////////////////
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static uint8_t rate_targets_frame = EARTH_FRAME; // indicates whether rate targets provided in earth or body frame
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static int32_t roll_rate_target_ef;
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static int32_t pitch_rate_target_ef;
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static int32_t yaw_rate_target_ef;
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static int32_t roll_rate_target_bf; // body frame roll rate target
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static int32_t pitch_rate_target_bf; // body frame pitch rate target
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static int32_t yaw_rate_target_bf; // body frame yaw rate target
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////////////////////////////////////////////////////////////////////////////////
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// Throttle variables
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////////////////////////////////////////////////////////////////////////////////
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static int16_t throttle_accel_target_ef; // earth frame throttle acceleration target
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static bool throttle_accel_controller_active; // true when accel based throttle controller is active, false when higher level throttle controllers are providing throttle output directly
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static float throttle_avg; // g.throttle_cruise as a float
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static int16_t desired_climb_rate; // pilot desired climb rate - for logging purposes only
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static float target_alt_for_reporting; // target altitude in cm for reporting (logs and ground station)
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////////////////////////////////////////////////////////////////////////////////
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// ACRO Mode
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////////////////////////////////////////////////////////////////////////////////
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// Used to control Axis lock
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static int32_t acro_roll; // desired roll angle while sport mode
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static int32_t acro_roll_rate; // desired roll rate while in acro mode
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static int32_t acro_pitch; // desired pitch angle while sport mode
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static int32_t acro_pitch_rate; // desired pitch rate while acro mode
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static int32_t acro_yaw_rate; // desired yaw rate while acro mode
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static float acro_level_mix; // scales back roll, pitch and yaw inversely proportional to input from pilot
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// Filters
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#if FRAME_CONFIG == HELI_FRAME
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//static LowPassFilterFloat rate_roll_filter; // Rate Roll filter
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//static LowPassFilterFloat rate_pitch_filter; // Rate Pitch filter
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#endif // HELI_FRAME
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////////////////////////////////////////////////////////////////////////////////
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// Circle Mode / Loiter control
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////////////////////////////////////////////////////////////////////////////////
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Vector3f circle_center; // circle position expressed in cm from home location. x = lat, y = lon
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// angle from the circle center to the copter's desired location. Incremented at circle_rate / second
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static float circle_angle;
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// the total angle (in radians) travelled
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static float circle_angle_total;
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// deg : how many times to circle as specified by mission command
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static uint8_t circle_desired_rotations;
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static float circle_angular_acceleration; // circle mode's angular acceleration
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static float circle_angular_velocity; // circle mode's angular velocity
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static float circle_angular_velocity_max; // circle mode's max angular velocity
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// How long we should stay in Loiter Mode for mission scripting (time in seconds)
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static uint16_t loiter_time_max;
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// How long have we been loitering - The start time in millis
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static uint32_t loiter_time;
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static uint8_t circle_desired_rotations; // how many times to circle as specified by mission command
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static uint16_t loiter_time_max; // How long we should stay in Loiter Mode for mission scripting (time in seconds)
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static uint32_t loiter_time; // How long have we been loitering - The start time in millis
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////////////////////////////////////////////////////////////////////////////////
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@ -650,8 +599,6 @@ static AP_BattMonitor battery;
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////////////////////////////////////////////////////////////////////////////////
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// Altitude
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////////////////////////////////////////////////////////////////////////////////
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// The (throttle) controller desired altitude in cm
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static float controller_desired_alt;
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// The cm/s we are moving up or down based on filtered data - Positive = UP
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static int16_t climb_rate;
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// The altitude as reported by Sonar in cm - Values are 20 to 700 generally.
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@ -662,25 +609,6 @@ static float target_sonar_alt; // desired altitude in cm above the ground
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static int32_t baro_alt;
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////////////////////////////////////////////////////////////////////////////////
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// flight modes
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////////////////////////////////////////////////////////////////////////////////
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// Flight modes are combinations of Roll/Pitch, Yaw and Throttle control modes
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// Each Flight mode is a unique combination of these modes
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//
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// The current desired control scheme for roll and pitch / navigation
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static uint8_t roll_pitch_mode = STABILIZE_RP;
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// The current desired control scheme for altitude hold
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static uint8_t throttle_mode = STABILIZE_THR;
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////////////////////////////////////////////////////////////////////////////////
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// flight specific
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////////////////////////////////////////////////////////////////////////////////
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// An additional throttle added to keep the copter at the same altitude when banking
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static int16_t angle_boost;
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////////////////////////////////////////////////////////////////////////////////
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// 3D Location vectors
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////////////////////////////////////////////////////////////////////////////////
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@ -705,10 +633,8 @@ static int32_t of_pitch;
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////////////////////////////////////////////////////////////////////////////////
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// Navigation Throttle control
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// Throttle integrator
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////////////////////////////////////////////////////////////////////////////////
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// The Commanded Throttle from the autopilot.
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static int16_t nav_throttle; // 0-1000 for throttle control
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// This is a simple counter to track the amount of throttle used during flight
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// This could be useful later in determining and debuging current usage and predicting battery life
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static uint32_t throttle_integrator;
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@ -845,7 +771,6 @@ static AP_EPM epm;
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////////////////////////////////////////////////////////////////////////////////
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// function definitions to keep compiler from complaining about undeclared functions
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////////////////////////////////////////////////////////////////////////////////
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void get_throttle_althold(int32_t target_alt, int16_t min_climb_rate, int16_t max_climb_rate);
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static void pre_arm_checks(bool display_failure);
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////////////////////////////////////////////////////////////////////////////////
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@ -1512,7 +1437,6 @@ static void read_AHRS(void)
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#endif
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ahrs.update();
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omega = ins.get_gyro();
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}
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// read baro and sonar altitude at 20hz
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