ArduCopter: remove HIL support

ArduCopter/APM_Config.h

@@ -54,8 +54,6 @@
 // other settings
 //#define THROTTLE_IN_DEADBAND   100                // redefine size of throttle deadband in pwm (0 ~ 1000)
 
-//#define HIL_MODE              HIL_MODE_SENSORS    // build for hardware-in-the-loop simulation
-
 // User Hooks : For User Developed code that you wish to run
 // Put your variable definitions into the UserVariables.h file (or another file name and then change the #define below).
 //#define USERHOOK_VARIABLES "UserVariables.h"

ArduCopter/APM_Config_mavlink_hil.h

@@ -1,28 +0,0 @@
-// HIL_MODE SELECTION
-//
-// Mavlink supports
-// 1. HIL_MODE_SENSORS: full sensor simulation
-#define HIL_MODE            HIL_MODE_SENSORS
-
-// HIL_PORT SELECTION
-//
-// PORT 1
-// If you would like to run telemetry communications for a groundstation
-// while you are running hardware in the loop it is necessary to set
-// HIL_PORT to 1. This uses the port that would have been used for the gps
-// as the hardware in the loop port. You will have to solder
-// headers onto the gps port connection on the apm
-// and connect via an ftdi cable.
-//
-// The baud rate is set to 115200 in this mode.
-//
-// PORT 3
-// If you don't require telemetry communication with a gcs while running
-// hardware in the loop you may use the telemetry port as the hardware in
-// the loop port.  Alternatively, use a telemetry/HIL shim like FGShim
-// https://ardupilot-mega.googlecode.com/svn/Tools/trunk/FlightGear
-//
-// The buad rate is controlled by SERIAL1_BAUD in this mode.
-
-#define HIL_PORT            3
-

ArduCopter/AP_Arming.cpp

@@ -801,7 +801,7 @@ bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_
         AP::notify().update();
     }
 
-#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     gcs().send_text(MAV_SEVERITY_INFO, "Arming motors");
 #endif
 
@@ -895,7 +895,7 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che
         return false;
     }
 
-#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
 #endif
 

ArduCopter/Copter.cpp

@@ -447,12 +447,6 @@ void Copter::ten_hz_logging_loop()
 // twentyfive_hz_logging - should be run at 25hz
 void Copter::twentyfive_hz_logging()
 {
-#if HIL_MODE != HIL_MODE_DISABLED
-    // HIL for a copter needs very fast update of the servo values
-    gcs().send_message(MSG_SERVO_OUTPUT_RAW);
-#endif
-
-#if HIL_MODE == HIL_MODE_DISABLED
     if (should_log(MASK_LOG_ATTITUDE_FAST)) {
         Log_Write_EKF_POS();
     }
@@ -460,7 +454,6 @@ void Copter::twentyfive_hz_logging()
     if (should_log(MASK_LOG_IMU)) {
         AP::ins().Write_IMU();
     }
-#endif
 
 #if MODE_AUTOROTATE_ENABLED == ENABLED
     if (should_log(MASK_LOG_ATTITUDE_MED) || should_log(MASK_LOG_ATTITUDE_FAST)) {
@@ -602,13 +595,6 @@ void Copter::update_super_simple_bearing(bool force_update)
 
 void Copter::read_AHRS(void)
 {
-    // Perform IMU calculations and get attitude info
-    //-----------------------------------------------
-#if HIL_MODE != HIL_MODE_DISABLED
-    // update hil before ahrs update
-    gcs().update();
-#endif
-
     // we tell AHRS to skip INS update as we have already done it in fast_loop()
     ahrs.update(true);
 }

ArduCopter/GCS_Mavlink.cpp

@@ -55,10 +55,6 @@ MAV_MODE GCS_MAVLINK_Copter::base_mode() const
     // override if stick mixing is enabled
     _base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
 
-#if HIL_MODE != HIL_MODE_DISABLED
-    _base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
-#endif
-
     // we are armed if we are not initialising
     if (copter.motors != nullptr && copter.motors->armed()) {
         _base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
@@ -372,8 +368,8 @@ const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
     AP_GROUPINFO("RC_CHAN",  2, GCS_MAVLINK_Parameters, streamRates[2],  0),
 
     // @Param: RAW_CTRL
-    // @DisplayName: Raw Control stream rate to ground station
+    // @DisplayName: Unused
-    // @Description: Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station
+    // @Description: Unused
     // @Units: Hz
     // @Range: 0 50
     // @Increment: 1
@@ -1253,53 +1249,6 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
     }
 #endif
 
-#if HIL_MODE != HIL_MODE_DISABLED
-    case MAVLINK_MSG_ID_HIL_STATE:          // MAV ID: 90
-    {
-        mavlink_hil_state_t packet;
-        mavlink_msg_hil_state_decode(&msg, &packet);
-
-        // sanity check location
-        if (!check_latlng(packet.lat, packet.lon)) {
-            break;
-        }
-
-        // set gps hil sensor
-        Location loc;
-        loc.lat = packet.lat;
-        loc.lng = packet.lon;
-        loc.alt = packet.alt/10;
-        Vector3f vel(packet.vx, packet.vy, packet.vz);
-        vel *= 0.01f;
-
-        gps.setHIL(0, AP_GPS::GPS_OK_FIX_3D,
-                   packet.time_usec/1000,
-                   loc, vel, 10, 0);
-
-        // rad/sec
-        Vector3f gyros;
-        gyros.x = packet.rollspeed;
-        gyros.y = packet.pitchspeed;
-        gyros.z = packet.yawspeed;
-
-        // m/s/s
-        Vector3f accels;
-        accels.x = packet.xacc * (GRAVITY_MSS/1000.0f);
-        accels.y = packet.yacc * (GRAVITY_MSS/1000.0f);
-        accels.z = packet.zacc * (GRAVITY_MSS/1000.0f);
-
-        ins.set_gyro(0, gyros);
-
-        ins.set_accel(0, accels);
-
-        AP::baro().setHIL(packet.alt*0.001f);
-        copter.compass.setHIL(0, packet.roll, packet.pitch, packet.yaw);
-        copter.compass.setHIL(1, packet.roll, packet.pitch, packet.yaw);
-
-        break;
-    }
-#endif //  HIL_MODE != HIL_MODE_DISABLED
-
     case MAVLINK_MSG_ID_RADIO:
     case MAVLINK_MSG_ID_RADIO_STATUS:       // MAV ID: 109
     {

ArduCopter/config.h

@@ -39,13 +39,6 @@
 #error CONFIG_HAL_BOARD must be defined to build ArduCopter
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// HIL_MODE                                 OPTIONAL
-
-#ifndef HIL_MODE
- #define HIL_MODE        HIL_MODE_DISABLED
-#endif
-
 #ifndef ARMING_DELAY_SEC
     # define ARMING_DELAY_SEC 2.0f
 #endif

ArduCopter/defines.h

@@ -27,10 +27,6 @@ enum autopilot_yaw_mode {
 #define MULTICOPTER_FRAME 1
 #define HELI_FRAME 2
 
-// HIL enumerations
-#define HIL_MODE_DISABLED               0
-#define HIL_MODE_SENSORS                1
-
 // Tuning enumeration
 enum tuning_func {
     TUNING_NONE =                        0, //

ArduCopter/system.cpp

@@ -142,18 +142,6 @@ void Copter::init_ardupilot()
     USERHOOK_INIT
 #endif
 
-#if HIL_MODE != HIL_MODE_DISABLED
-    while (barometer.get_last_update() == 0) {
-        // the barometer begins updating when we get the first
-        // HIL_STATE message
-        gcs().send_text(MAV_SEVERITY_WARNING, "Waiting for first HIL_STATE message");
-        delay(1000);
-    }
-
-    // set INS to HIL mode
-    ins.set_hil_mode();
-#endif
-
     // read Baro pressure at ground
     //-----------------------------
     barometer.set_log_baro_bit(MASK_LOG_IMU);