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Sub: Remove landing gear

This commit is contained in:
Jacob Walser 2016-11-25 14:41:16 -05:00 committed by Andrew Tridgell
parent 7b5d209aba
commit db56bdf8b0
9 changed files with 6 additions and 73 deletions
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1
ArduSub/ArduSub.cpp
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@ -110,7 +110,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
SCHED_TASK(update_notify, 50, 90),
SCHED_TASK(one_hz_loop, 1, 100),
SCHED_TASK(ekf_check, 10, 75),
SCHED_TASK(landinggear_update, 10, 75),
SCHED_TASK(lost_vehicle_check, 10, 50),
SCHED_TASK(gcs_check_input, 400, 180),
SCHED_TASK(gcs_send_heartbeat, 1, 110),

4
ArduSub/Parameters.cpp
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@ -860,10 +860,6 @@ const AP_Param::Info Sub::var_info[] = {
// @Path: ../libraries/AP_Relay/AP_Relay.cpp
GOBJECT(relay, "RELAY_", AP_Relay),
// @Group: LGR_
// @Path: ../libraries/AP_LandingGear/AP_LandingGear.cpp
GOBJECT(landinggear, "LGR_", AP_LandingGear),
// @Group: COMPASS_
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),

3
ArduSub/Parameters.h
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@ -73,9 +73,6 @@ public:
// GPS object
k_param_gps,
// Landing gear object
k_param_landinggear, // 18
// Input Management object
k_param_input_manager, // 19

5
ArduSub/Sub.h
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@ -86,7 +86,6 @@
#include <AP_Notify/AP_Notify.h> // Notify library
#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
#include <AP_BoardConfig/AP_BoardConfig.h> // board configuration library
#include <AP_LandingGear/AP_LandingGear.h> // Landing Gear library
#include <AP_Terrain/AP_Terrain.h>
#include <AP_ADSB/AP_ADSB.h>
#include <AP_RPM/AP_RPM.h>
@ -497,9 +496,6 @@ private:
AC_Sprayer sprayer;
#endif
// Landing Gear Controller
AP_LandingGear landinggear;
// terrain handling
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
AP_Terrain terrain;
@ -792,7 +788,6 @@ private:
void update_surface_and_bottom_detector();
void set_surfaced(bool at_surface);
void set_bottomed(bool at_bottom);
void landinggear_update();
void update_notify();
void motor_test_output();
bool mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc);

9
ArduSub/defines.h
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@ -67,7 +67,10 @@ enum aux_sw_func {
AUXSW_ATTCON_ACCEL_LIM = 26, // enable/disable the roll, pitch and yaw accel limiting
AUXSW_RETRACT_MOUNT = 27, // Retract Mount
AUXSW_RELAY = 28, // Relay pin on/off (only supports first relay)
AUXSW_LANDING_GEAR = 29, // Landing gear controller
// No landing gear for sub, remove
// AUXSW_LANDING_GEAR = 29, // Landing gear controller
AUXSW_LOST_COPTER_SOUND = 30, // Play lost copter sound
AUXSW_MOTOR_ESTOP = 31, // Emergency Stop Switch
AUXSW_MOTOR_INTERLOCK = 32, // Motor On/Off switch
@ -346,8 +349,8 @@ enum ThrowModeState {
//#define DATA_PARACHUTE_DISABLED 49 // Remove
//#define DATA_PARACHUTE_ENABLED 50 // Remove
//#define DATA_PARACHUTE_RELEASED 51 // Remove
#define DATA_LANDING_GEAR_DEPLOYED 52
#define DATA_LANDING_GEAR_RETRACTED 53
//#define DATA_LANDING_GEAR_DEPLOYED 52 // Remove
//#define DATA_LANDING_GEAR_RETRACTED 53 // Remove
#define DATA_MOTORS_EMERGENCY_STOPPED 54
#define DATA_MOTORS_EMERGENCY_STOP_CLEARED 55
#define DATA_MOTORS_INTERLOCK_DISABLED 56

40
ArduSub/landing_gear.cpp
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@ -1,40 +0,0 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Sub.h"
// Run landing gear controller at 10Hz
void Sub::landinggear_update(){
// Do nothing for Sub
// // If landing gear control is active, run update function.
// if (check_if_auxsw_mode_used(AUXSW_LANDING_GEAR)){
//
// // last status (deployed or retracted) used to check for changes
// static bool last_deploy_status;
//
// // if we are doing an automatic landing procedure, force the landing gear to deploy.
// // To-Do: should we pause the auto-land procedure to give time for gear to come down?
// if (control_mode == LAND ||
// (control_mode==RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent)) ||
// (control_mode == AUTO && auto_mode == Auto_Land) ||
// (control_mode == AUTO && auto_mode == Auto_RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent))) {
// landinggear.force_deploy(true);
// }
//
// landinggear.update();
//
// // send event message to datalog if status has changed
// if (landinggear.deployed() != last_deploy_status){
// if (landinggear.deployed()) {
// Log_Write_Event(DATA_LANDING_GEAR_DEPLOYED);
// } else {
// Log_Write_Event(DATA_LANDING_GEAR_RETRACTED);
// }
// }
//
// last_deploy_status = landinggear.deployed();
// }
}

1
ArduSub/make.inc
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@ -52,7 +52,6 @@ LIBRARIES += AP_BattMonitor
LIBRARIES += AP_BoardConfig
LIBRARIES += AP_Frsky_Telem
LIBRARIES += AC_Sprayer
LIBRARIES += AP_LandingGear
LIBRARIES += AP_Terrain
LIBRARIES += AP_RPM
LIBRARIES += AC_PrecLand

15
ArduSub/switches.cpp
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@ -240,7 +240,6 @@ void Sub::init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
case AUXSW_ATTCON_FEEDFWD:
case AUXSW_ATTCON_ACCEL_LIM:
case AUXSW_RELAY:
case AUXSW_LANDING_GEAR:
case AUXSW_MOTOR_ESTOP:
case AUXSW_MOTOR_INTERLOCK:
do_aux_switch_function(ch_option, ch_flag);
@ -472,20 +471,6 @@ void Sub::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
ServoRelayEvents.do_set_relay(0, ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_LANDING_GEAR:
switch (ch_flag) {
case AUX_SWITCH_LOW:
landinggear.set_cmd_mode(LandingGear_Deploy);
break;
case AUX_SWITCH_MIDDLE:
landinggear.set_cmd_mode(LandingGear_Auto);
break;
case AUX_SWITCH_HIGH:
landinggear.set_cmd_mode(LandingGear_Retract);
break;
}
break;
case AUXSW_LOST_COPTER_SOUND:
switch (ch_flag) {
case AUX_SWITCH_HIGH:

1
ArduSub/wscript
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@ -20,7 +20,6 @@ def build(bld):
'AP_IRLock',
'AP_InertialNav',
'AP_JSButton',
'AP_LandingGear',
'AP_LeakDetector',
'AP_Menu',
'AP_Motors',