Blimp: remove HIL support

Blimp/Blimp.cpp

@@ -199,12 +199,6 @@ void Blimp::ten_hz_logging_loop()
 // twentyfive_hz_logging - should be run at 25hz
 void Blimp::twentyfive_hz_logging()
 {
-#if HIL_MODE != HIL_MODE_DISABLED
-    // HIL for a blimp 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();
     }
@@ -212,8 +206,6 @@ void Blimp::twentyfive_hz_logging()
     if (should_log(MASK_LOG_IMU)) {
         AP::ins().Write_IMU();
     }
-#endif
-
 }
 
 // three_hz_loop - 3.3hz loop
@@ -247,13 +239,6 @@ void Blimp::one_hz_loop()
 
 void Blimp::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);
 }

Blimp/GCS_Mavlink.cpp

@@ -53,10 +53,6 @@ MAV_MODE GCS_MAVLINK_Blimp::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 (blimp.motors != nullptr && blimp.motors->armed()) {
         _base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
@@ -304,8 +300,8 @@ 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 10
     // @Increment: 1

Blimp/config.h

@@ -22,13 +22,6 @@
 # define ADVANCED_FAILSAFE DISABLED
 #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

Blimp/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, //

Blimp/system.cpp

@@ -72,18 +72,6 @@ void Blimp::init_ardupilot()
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();
 
-#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);