mirror of https://github.com/ArduPilot/ardupilot
APM: removed the unused sonar code
when we start supporting a sonar we'll add a AP_Sonar library, like AP_Airspeed
This commit is contained in:
Andrew Tridgell
parent
2324997e16
commit
cebb67e1df
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@ -264,7 +264,6 @@ GCS_MAVLINK gcs3;
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// PITOT selection
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////////////////////////////////////////////////////////////////////////////////
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//
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ModeFilterInt16_Size5 sonar_mode_filter(2);
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#if CONFIG_PITOT_SOURCE == PITOT_SOURCE_ADC
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AP_AnalogSource_ADC pitot_analog_source( &adc,
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@ -273,14 +272,6 @@ AP_AnalogSource_ADC pitot_analog_source( &adc,
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AP_AnalogSource_Arduino pitot_analog_source(CONFIG_PITOT_SOURCE_ANALOG_PIN, 4.0);
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#endif
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#if SONAR_TYPE == MAX_SONAR_XL
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AP_RangeFinder_MaxsonarXL sonar(&pitot_analog_source, &sonar_mode_filter);
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#elif SONAR_TYPE == MAX_SONAR_LV
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// XXX honestly I think these output the same values
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// If someone knows, can they confirm it?
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AP_RangeFinder_MaxsonarXL sonar(&pitot_analog_source, &sonar_mode_filter);
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#endif
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#if RECEIVER_RSSI_PIN != -1
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AP_AnalogSource_Arduino RSSI_pin(RECEIVER_RSSI_PIN, 0.25);
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#endif
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@ -483,9 +474,6 @@ AP_Airspeed airspeed(&pitot_analog_source);
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////////////////////////////////////////////////////////////////////////////////
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// Altitude Sensor variables
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////////////////////////////////////////////////////////////////////////////////
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// Altitude from the sonar sensor. Meters. Not yet implemented.
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static int16_t sonar_alt;
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////////////////////////////////////////////////////////////////////////////////
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// flight mode specific
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@ -886,7 +874,6 @@ static void medium_loop()
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// Read altitude from sensors
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// ------------------
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update_alt();
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if(g.sonar_enabled) sonar_alt = sonar.read();
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// altitude smoothing
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// ------------------
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@ -341,7 +341,7 @@ static void Log_Write_GPS( int32_t log_Time, int32_t log_Lattitude, int32_t
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DataFlash.WriteByte(log_NumSats);
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DataFlash.WriteLong(log_Lattitude);
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DataFlash.WriteLong(log_Longitude);
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DataFlash.WriteInt(sonar_alt); // This one is just temporary for testing out sonar in fixed wing
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DataFlash.WriteInt(0); // was sonar_alt
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DataFlash.WriteLong(log_mix_alt);
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DataFlash.WriteLong(log_gps_alt);
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DataFlash.WriteLong(log_Ground_Speed);
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@ -334,7 +334,6 @@ public:
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AP_Float input_voltage;
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AP_Int32 pack_capacity; // Battery pack capacity less reserve
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AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger
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AP_Int8 sonar_enabled;
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AP_Int8 stick_mixing;
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AP_Int8 rudder_steer;
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@ -525,13 +525,6 @@ const AP_Param::Info var_info[] PROGMEM = {
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GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE),
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GSCALAR(inverted_flight_ch, "INVERTEDFLT_CH", 0),
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// @Param: SONAR_ENABLE
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// @DisplayName: Enable Sonar
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// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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GSCALAR(sonar_enabled, "SONAR_ENABLE", SONAR_ENABLED),
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// barometer ground calibration. The GND_ prefix is chosen for
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// compatibility with previous releases of ArduPlane
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GOBJECT(barometer, "GND_", AP_Baro),
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@ -70,7 +70,6 @@
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# define CONFIG_IMU_TYPE CONFIG_IMU_MPU6000
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# define CONFIG_RELAY DISABLED
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# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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# define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN
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# define MAGNETOMETER ENABLED
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# ifdef APM2_BETA_HARDWARE
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@ -152,14 +151,6 @@
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# define CONFIG_BARO AP_BARO_BMP085
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Pitot
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//
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#ifndef PITOT_ENABLED
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# define PITOT_ENABLED DISABLED
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#endif
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#ifndef CONFIG_PITOT_SOURCE
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# define CONFIG_PITOT_SOURCE PITOT_SOURCE_ADC
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#endif
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@ -173,17 +164,7 @@
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# define CONFIG_PITOT_SOURCE_ANALOG_PIN 0
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# endif
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#else
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# warning Invalid value for CONFIG_PITOT_SOURCE, disabling airspeed
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# undef PITOT_ENABLED
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# define PITOT_ENABLED DISABLED
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#endif
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#ifndef SONAR_TYPE
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# define SONAR_TYPE MAX_SONAR_LV // MAX_SONAR_XL,
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#endif
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#ifndef SONAR_ENABLED
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#define SONAR_ENABLED DISABLED
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# warning Invalid value for CONFIG_PITOT_SOURCE
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#endif
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//////////////////////////////////////////////////////////////////////////////
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@ -207,10 +207,6 @@ enum gcs_severity {
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#define RELAY_PIN 47
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// sonar
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#define MAX_SONAR_XL 0
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#define MAX_SONAR_LV 1
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#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
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#define AN4 4
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#define AN5 5
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