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Mount_MAVLink: remove unused _enable and find_mount

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Randy Mackay 2015-01-19 10:26:00 +09:00 committed by Andrew Tridgell
parent b5127b680f
commit bf82e82282
2 changed files with 1 additions and 31 deletions
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26
libraries/AP_Mount/AP_Mount_MAVLink.cpp
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@ -60,11 +60,6 @@ bool AP_Mount_MAVLink::has_pan_control() const
// set_mode - sets mount's mode // set_mode - sets mount's mode
void AP_Mount_MAVLink::set_mode(enum MAV_MOUNT_MODE mode) void AP_Mount_MAVLink::set_mode(enum MAV_MOUNT_MODE mode)
{ {
// exit immediately if mount has not been found
if (!_enabled) {
return;
}
// map requested mode to mode that mount can actually support // map requested mode to mode that mount can actually support
enum MAV_MOUNT_MODE mode_to_send = mode; enum MAV_MOUNT_MODE mode_to_send = mode;
switch (mode) { switch (mode) {
@ -97,31 +92,12 @@ void AP_Mount_MAVLink::set_mode(enum MAV_MOUNT_MODE mode)
// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message // status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
void AP_Mount_MAVLink::status_msg(mavlink_channel_t chan) void AP_Mount_MAVLink::status_msg(mavlink_channel_t chan)
{ {
// exit immediately if mount has not been found // do nothing - we rely on the mount sending the messages directly
if (!_enabled) {
return;
}
}
// find_mount - search for MAVLink enabled mount
void AP_Mount_MAVLink::find_mount()
{
// return immediately if target has already been found
if (_enabled) {
return;
}
// To-Do: search for MAVLink enabled mount using MAVLink_routing table
} }
// send_angle_target - send earth-frame angle targets to mount // send_angle_target - send earth-frame angle targets to mount
void AP_Mount_MAVLink::send_angle_target(const Vector3f& target, bool target_in_degrees) void AP_Mount_MAVLink::send_angle_target(const Vector3f& target, bool target_in_degrees)
{ {
// exit immediately if mount has not been found
if (!_enabled) {
return;
}
// convert to degrees if necessary // convert to degrees if necessary
Vector3f target_deg = target; Vector3f target_deg = target;
if (!target_in_degrees) { if (!target_in_degrees) {

6
libraries/AP_Mount/AP_Mount_MAVLink.h
View File

@ -24,7 +24,6 @@ public:
// Constructor // Constructor
AP_Mount_MAVLink(AP_Mount &frontend, uint8_t instance) : AP_Mount_MAVLink(AP_Mount &frontend, uint8_t instance) :
AP_Mount_Backend(frontend, instance), AP_Mount_Backend(frontend, instance),
_enabled(false),
_chan(MAVLINK_COMM_0), _chan(MAVLINK_COMM_0),
_last_mode(MAV_MOUNT_MODE_RETRACT) _last_mode(MAV_MOUNT_MODE_RETRACT)
{} {}
@ -45,16 +44,11 @@ public:
virtual void status_msg(mavlink_channel_t chan); virtual void status_msg(mavlink_channel_t chan);
private: private:
// find_mount - search for MAVLink enabled mount
void find_mount();
// send_angle_target - send earth-frame angle targets to mount // send_angle_target - send earth-frame angle targets to mount
// set target_in_degrees to true to send degree targets, false if target in radians // set target_in_degrees to true to send degree targets, false if target in radians
void send_angle_target(const Vector3f& target, bool target_in_degrees); void send_angle_target(const Vector3f& target, bool target_in_degrees);
// internal variables // internal variables
bool _enabled; // gimbal becomes enabled once the mount has been discovered
mavlink_channel_t _chan; // telemetry channel used to communicate with mount mavlink_channel_t _chan; // telemetry channel used to communicate with mount
enum MAV_MOUNT_MODE _last_mode; // last mode sent to mount enum MAV_MOUNT_MODE _last_mode; // last mode sent to mount
Vector3f _last_angle_target; // last angle target sent to mount Vector3f _last_angle_target; // last angle target sent to mount