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GCS_MAVLink: remove preflight_can

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It was only using CANTester to test KDECAN enumeration which was removed
This commit is contained in:
Tom Pittenger 2023-04-15 14:55:48 -07:00 committed by Andrew Tridgell
parent 5ca3aa6346
commit a443fd97a6
2 changed files with 0 additions and 55 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -618,8 +618,6 @@ protected:
virtual MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet, const mavlink_message_t &msg);
virtual MAV_RESULT _handle_command_preflight_calibration_baro(const mavlink_message_t &msg);
MAV_RESULT handle_command_preflight_can(const mavlink_command_long_t &packet);
virtual MAV_RESULT handle_command_do_set_mission_current(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_battery_reset(const mavlink_command_long_t &packet);

53
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -4344,55 +4344,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_run_prearm_checks(const mavlink_command_l
return MAV_RESULT_ACCEPTED;
}
MAV_RESULT GCS_MAVLINK::handle_command_preflight_can(const mavlink_command_long_t &packet)
{
#if HAL_CANMANAGER_ENABLED
if (hal.util->get_soft_armed()) {
// *preflight*, remember?
return MAV_RESULT_TEMPORARILY_REJECTED;
}
bool result = true;
bool can_exists = false;
uint8_t num_drivers = AP::can().get_num_drivers();
for (uint8_t i = 0; i < num_drivers; i++) {
switch (AP::can().get_driver_type(i)) {
case AP_CANManager::Driver_Type_CANTester: {
#if (APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)) && (HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_ENABLE_CANTESTER)
CANTester *cantester = CANTester::get_cantester(i);
if (cantester != nullptr) {
can_exists = true;
result = cantester->run_kdecan_enumeration(start_stop) && result;
}
#else
(void)can_exists;
#endif
break;
}
case AP_CANManager::Driver_Type_PiccoloCAN:
// TODO - Run PiccoloCAN pre-flight checks here
break;
case AP_CANManager::Driver_Type_DroneCAN:
case AP_CANManager::Driver_Type_None:
default:
break;
}
}
MAV_RESULT ack = MAV_RESULT_DENIED;
if (can_exists) {
ack = result ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED;
}
return ack;
#else
return MAV_RESULT_UNSUPPORTED;
#endif
}
// changes the current waypoint; at time of writing GCS
// implementations use the mavlink message MISSION_SET_CURRENT to set
// the current waypoint, rather than this DO command. It is hoped we
@ -4748,10 +4699,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
break;
#endif
case MAV_CMD_PREFLIGHT_UAVCAN:
result = handle_command_preflight_can(packet);
break;
case MAV_CMD_RUN_PREARM_CHECKS:
result = handle_command_run_prearm_checks(packet);
break;