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GCS_MAVLink: remove HIL support

This commit is contained in:
Peter Barker 2021-06-09 21:31:35 +10:00 committed by Andrew Tridgell
parent 52a52e1e5b
commit a23999d0f0
2 changed files with 3 additions and 20 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -342,8 +342,6 @@ public:
protected: protected:
virtual bool in_hil_mode() const { return false; }
bool mavlink_coordinate_frame_to_location_alt_frame(MAV_FRAME coordinate_frame, bool mavlink_coordinate_frame_to_location_alt_frame(MAV_FRAME coordinate_frame,
Location::AltFrame &frame); Location::AltFrame &frame);

21
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -877,16 +877,6 @@ bool GCS_MAVLINK::should_send_message_in_delay_callback(const ap_message id) con
// No ID we return true for may take more than a few hundred // No ID we return true for may take more than a few hundred
// microseconds to return! // microseconds to return!
if (in_hil_mode()) {
// in HIL we need to keep sending servo values to ensure
// the simulator doesn't pause, otherwise our sensor
// calibration could stall
if (id == MSG_SERVO_OUT ||
id == MSG_SERVO_OUTPUT_RAW) {
return true;
}
}
switch (id) { switch (id) {
case MSG_HEARTBEAT: case MSG_HEARTBEAT:
case MSG_NEXT_PARAM: case MSG_NEXT_PARAM:
@ -2668,13 +2658,8 @@ bool GCS_MAVLINK::telemetry_delayed() const
void GCS_MAVLINK::send_servo_output_raw() void GCS_MAVLINK::send_servo_output_raw()
{ {
uint16_t values[16] {}; uint16_t values[16] {};
if (in_hil_mode()) { hal.rcout->read(values, 16);
for (uint8_t i=0; i<16; i++) {
values[i] = SRV_Channels::srv_channel(i)->get_output_pwm();
}
} else {
hal.rcout->read(values, 16);
}
for (uint8_t i=0; i<16; i++) { for (uint8_t i=0; i<16; i++) {
if (values[i] == 65535) { if (values[i] == 65535) {
values[i] = 0; values[i] = 0;
@ -3216,7 +3201,7 @@ void GCS_MAVLINK::handle_command_ack(const mavlink_message_t &msg)
} }
} }
// allow override of RC channel values for HIL or for complete GCS // allow override of RC channel values for complete GCS
// control of switch position and RC PWM values. // control of switch position and RC PWM values.
void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t &msg) void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t &msg)
{ {