Sub: Remove RSSI

ArduSub/ArduSub.cpp

@@ -123,7 +123,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK(full_rate_logging_loop,400,    100),
     SCHED_TASK(dataflash_periodic,    400,    300),
     SCHED_TASK(perf_update,           0.1,    75),
-    SCHED_TASK(read_receiver_rssi,    10,     75),
     SCHED_TASK(rpm_update,            10,    200),
     SCHED_TASK(compass_cal_update,   100,    100),
     SCHED_TASK(accel_cal_update,      10,    100),
@@ -377,9 +376,6 @@ void Sub::ten_hz_logging_loop()
     }
     if (should_log(MASK_LOG_RCIN)) {
         DataFlash.Log_Write_RCIN();
-        if (rssi.enabled()) {
-            DataFlash.Log_Write_RSSI(rssi);
-        }
     }
     if (should_log(MASK_LOG_RCOUT)) {
         DataFlash.Log_Write_RCOUT();

ArduSub/Parameters.cpp

@@ -986,10 +986,6 @@ const AP_Param::Info Sub::var_info[] = {
     // @Group: MIS_
     // @Path: ../libraries/AP_Mission/AP_Mission.cpp
     GOBJECT(mission, "MIS_",       AP_Mission),
-
-    // @Group: RSSI_
-    // @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
-    GOBJECT(rssi, "RSSI_",  AP_RSSI),      
     
 #if RANGEFINDER_ENABLED == ENABLED
     // @Group: RNGFND

ArduSub/Parameters.h

@@ -123,9 +123,6 @@ public:
 		k_param_throw_motor_start,
 		k_param_terrain_follow,		// 94
 		k_param_avoid,
-
-        // 97: RSSI
-        k_param_rssi = 97,
                 
         //
         // 100: Inertial Nav

ArduSub/Sub.h

@@ -66,7 +66,6 @@
 #include <AP_RangeFinder/AP_RangeFinder.h>     // Range finder library
 #include <AP_Proximity/AP_Proximity.h>
 #include <AP_OpticalFlow/AP_OpticalFlow.h>     // Optical Flow library
-#include <AP_RSSI/AP_RSSI.h>                   // RSSI Library
 #include <Filter/Filter.h>             // Filter library
 #include <AP_Buffer/AP_Buffer.h>          // APM FIFO Buffer
 #include <AP_Relay/AP_Relay.h>           // APM relay
@@ -257,9 +256,6 @@ private:
     // board specific config
     AP_BoardConfig BoardConfig;
 
-    // receiver RSSI
-    uint8_t receiver_rssi;
-
     // Failsafe
     struct {
         uint8_t rc_override_active   : 1; // 0   // true if rc control are overwritten by ground station
@@ -477,9 +473,6 @@ private:
     AP_Rally rally;
 #endif
 
-    // RSSI 
-    AP_RSSI rssi;
-
     // terrain handling
 #if AP_TERRAIN_AVAILABLE && AC_TERRAIN
     AP_Terrain terrain;
@@ -826,7 +819,6 @@ private:
     void init_optflow();
     void update_optical_flow(void);
     void read_battery(void);
-    void read_receiver_rssi(void);
     void gripper_update();
     void terrain_update();
     void terrain_logging();

ArduSub/make.inc

@@ -29,7 +29,6 @@ LIBRARIES += RC_Channel
 LIBRARIES += AP_Motors
 LIBRARIES += AP_RangeFinder
 LIBRARIES += AP_OpticalFlow
-LIBRARIES += AP_RSSI
 LIBRARIES += Filter
 LIBRARIES += AP_Buffer
 LIBRARIES += AP_Relay

ArduSub/sensors.cpp

@@ -180,13 +180,6 @@ void Sub::read_battery(void)
     }
 }
 
-// read the receiver RSSI as an 8 bit number for MAVLink
-// RC_CHANNELS_SCALED message
-void Sub::read_receiver_rssi(void)
-{
-    receiver_rssi = rssi.read_receiver_rssi_uint8();
-}
-
 void Sub::compass_cal_update()
 {
     if (!hal.util->get_soft_armed()) {

ArduSub/system.cpp

@@ -121,9 +121,6 @@ void Sub::init_ardupilot()
 
     // initialise battery monitor
     battery.init();
-
-    // Init RSSI
-    rssi.init();
     
     barometer.init();