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Copter: remove unused flags and variables

This commit is contained in:
Randy Mackay 2014-02-03 16:22:25 +09:00 committed by Andrew Tridgell
parent 174318a2a9
commit 989a03a643
1 changed files with 10 additions and 86 deletions
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96
ArduCopter/ArduCopter.pde
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@ -402,24 +402,16 @@ static union {
struct { struct {
uint8_t home_is_set : 1; // 0 uint8_t home_is_set : 1; // 0
uint8_t simple_mode : 2; // 1,2 // This is the state of simple mode : 0 = disabled ; 1 = SIMPLE ; 2 = SUPERSIMPLE uint8_t simple_mode : 2; // 1,2 // This is the state of simple mode : 0 = disabled ; 1 = SIMPLE ; 2 = SUPERSIMPLE
uint8_t pre_arm_rc_check : 1; // 3 // true if rc input pre-arm checks have been completed successfully uint8_t pre_arm_rc_check : 1; // 3 // true if rc input pre-arm checks have been completed successfully
uint8_t pre_arm_check : 1; // 4 // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed uint8_t pre_arm_check : 1; // 4 // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
uint8_t auto_armed : 1; // 5 // stops auto missions from beginning until throttle is raised uint8_t auto_armed : 1; // 5 // stops auto missions from beginning until throttle is raised
uint8_t logging_started : 1; // 6 // true if dataflash logging has started uint8_t logging_started : 1; // 6 // true if dataflash logging has started
uint8_t land_complete : 1; // 7 // true if we have detected a landing
uint8_t do_flip : 1; // 7 // Used to enable flip code uint8_t new_radio_frame : 1; // 8 // Set true if we have new PWM data to act on from the Radio
uint8_t land_complete : 1; // 8 // true if we have detected a landing uint8_t CH7_flag : 2; // 9,10 // ch7 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH8_flag : 2; // 11,12 // ch8 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t new_radio_frame : 1; // 9 // Set true if we have new PWM data to act on from the Radio uint8_t usb_connected : 1; // 13 // true if APM is powered from USB connection
uint8_t CH7_flag : 2; // 10,11 // ch7 aux switch : 0 is low or false, 1 is center or true, 2 is high uint8_t rc_receiver_present : 1; // 14 // true if we have an rc receiver present (i.e. if we've ever received an update
uint8_t CH8_flag : 2; // 12,13 // ch8 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t usb_connected : 1; // 14 // true if APM is powered from USB connection
uint8_t yaw_stopped : 1; // 15 // Used to manage the Yaw hold capabilities
uint8_t disable_stab_rate_limit : 1; // 17 // disables limits rate request from the stability controller
uint8_t rc_receiver_present : 1; // 18 // true if we have an rc receiver present (i.e. if we've ever received an update
}; };
uint32_t value; uint32_t value;
} ap; } ap;
@ -496,9 +488,6 @@ static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// PIDs // PIDs
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// This is a convienience accessor for the IMU roll rates. It's currently the raw IMU rates
// and not the adjusted omega rates, but the name is stuck
static Vector3f omega;
// This is used to hold radio tuning values for in-flight CH6 tuning // This is used to hold radio tuning values for in-flight CH6 tuning
float tuning_value; float tuning_value;
@ -530,8 +519,6 @@ static int32_t home_bearing;
static int32_t home_distance; static int32_t home_distance;
// distance between plane and next waypoint in cm. // distance between plane and next waypoint in cm.
static uint32_t wp_distance; static uint32_t wp_distance;
// navigation mode - options include NAV_NONE, NAV_LOITER, NAV_CIRCLE, NAV_WP
static uint8_t nav_mode;
// Register containing the index of the current navigation command in the mission script // Register containing the index of the current navigation command in the mission script
static int16_t command_nav_index; static int16_t command_nav_index;
// Register containing the index of the previous navigation command in the mission script // Register containing the index of the previous navigation command in the mission script
@ -575,62 +562,24 @@ static float super_simple_sin_yaw;
// Stores initial bearing when armed - initial simple bearing is modified in super simple mode so not suitable // Stores initial bearing when armed - initial simple bearing is modified in super simple mode so not suitable
static int32_t initial_armed_bearing; static int32_t initial_armed_bearing;
////////////////////////////////////////////////////////////////////////////////
// Rate contoller targets
////////////////////////////////////////////////////////////////////////////////
static uint8_t rate_targets_frame = EARTH_FRAME; // indicates whether rate targets provided in earth or body frame
static int32_t roll_rate_target_ef;
static int32_t pitch_rate_target_ef;
static int32_t yaw_rate_target_ef;
static int32_t roll_rate_target_bf; // body frame roll rate target
static int32_t pitch_rate_target_bf; // body frame pitch rate target
static int32_t yaw_rate_target_bf; // body frame yaw rate target
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Throttle variables // Throttle variables
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
static int16_t throttle_accel_target_ef; // earth frame throttle acceleration target
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
static float throttle_avg; // g.throttle_cruise as a float static float throttle_avg; // g.throttle_cruise as a float
static int16_t desired_climb_rate; // pilot desired climb rate - for logging purposes only static int16_t desired_climb_rate; // pilot desired climb rate - for logging purposes only
static float target_alt_for_reporting; // target altitude in cm for reporting (logs and ground station)
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// ACRO Mode // ACRO Mode
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Used to control Axis lock
static int32_t acro_roll; // desired roll angle while sport mode
static int32_t acro_roll_rate; // desired roll rate while in acro mode
static int32_t acro_pitch; // desired pitch angle while sport mode
static int32_t acro_pitch_rate; // desired pitch rate while acro mode
static int32_t acro_yaw_rate; // desired yaw rate while acro mode
static float acro_level_mix; // scales back roll, pitch and yaw inversely proportional to input from pilot static float acro_level_mix; // scales back roll, pitch and yaw inversely proportional to input from pilot
// Filters
#if FRAME_CONFIG == HELI_FRAME
//static LowPassFilterFloat rate_roll_filter; // Rate Roll filter
//static LowPassFilterFloat rate_pitch_filter; // Rate Pitch filter
#endif // HELI_FRAME
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Circle Mode / Loiter control // Circle Mode / Loiter control
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
Vector3f circle_center; // circle position expressed in cm from home location. x = lat, y = lon static uint8_t circle_desired_rotations; // how many times to circle as specified by mission command
// angle from the circle center to the copter's desired location. Incremented at circle_rate / second static uint16_t loiter_time_max; // How long we should stay in Loiter Mode for mission scripting (time in seconds)
static float circle_angle; static uint32_t loiter_time; // How long have we been loitering - The start time in millis
// the total angle (in radians) travelled
static float circle_angle_total;
// deg : how many times to circle as specified by mission command
static uint8_t circle_desired_rotations;
static float circle_angular_acceleration; // circle mode's angular acceleration
static float circle_angular_velocity; // circle mode's angular velocity
static float circle_angular_velocity_max; // circle mode's max angular velocity
// How long we should stay in Loiter Mode for mission scripting (time in seconds)
static uint16_t loiter_time_max;
// How long have we been loitering - The start time in millis
static uint32_t loiter_time;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
@ -650,8 +599,6 @@ static AP_BattMonitor battery;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Altitude // Altitude
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// The (throttle) controller desired altitude in cm
static float controller_desired_alt;
// The cm/s we are moving up or down based on filtered data - Positive = UP // The cm/s we are moving up or down based on filtered data - Positive = UP
static int16_t climb_rate; static int16_t climb_rate;
// The altitude as reported by Sonar in cm - Values are 20 to 700 generally. // The altitude as reported by Sonar in cm - Values are 20 to 700 generally.
@ -662,25 +609,6 @@ static float target_sonar_alt; // desired altitude in cm above the ground
static int32_t baro_alt; static int32_t baro_alt;
////////////////////////////////////////////////////////////////////////////////
// flight modes
////////////////////////////////////////////////////////////////////////////////
// Flight modes are combinations of Roll/Pitch, Yaw and Throttle control modes
// Each Flight mode is a unique combination of these modes
//
// The current desired control scheme for roll and pitch / navigation
static uint8_t roll_pitch_mode = STABILIZE_RP;
// The current desired control scheme for altitude hold
static uint8_t throttle_mode = STABILIZE_THR;
////////////////////////////////////////////////////////////////////////////////
// flight specific
////////////////////////////////////////////////////////////////////////////////
// An additional throttle added to keep the copter at the same altitude when banking
static int16_t angle_boost;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// 3D Location vectors // 3D Location vectors
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
@ -705,10 +633,8 @@ static int32_t of_pitch;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Navigation Throttle control // Throttle integrator
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// The Commanded Throttle from the autopilot.
static int16_t nav_throttle; // 0-1000 for throttle control
// This is a simple counter to track the amount of throttle used during flight // This is a simple counter to track the amount of throttle used during flight
// This could be useful later in determining and debuging current usage and predicting battery life // This could be useful later in determining and debuging current usage and predicting battery life
static uint32_t throttle_integrator; static uint32_t throttle_integrator;
@ -845,7 +771,6 @@ static AP_EPM epm;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// function definitions to keep compiler from complaining about undeclared functions // function definitions to keep compiler from complaining about undeclared functions
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
void get_throttle_althold(int32_t target_alt, int16_t min_climb_rate, int16_t max_climb_rate);
static void pre_arm_checks(bool display_failure); static void pre_arm_checks(bool display_failure);
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
@ -1512,7 +1437,6 @@ static void read_AHRS(void)
#endif #endif
ahrs.update(); ahrs.update();
omega = ins.get_gyro();
} }
// read baro and sonar altitude at 20hz // read baro and sonar altitude at 20hz