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Plane: Remove support for CONDITION_CHANGE_ALT

This commit is contained in:
Michael du Breuil 2016-04-26 04:27:12 -07:00 committed by Randy Mackay
parent d455e2a33f
commit de1e299754
3 changed files with 1 additions and 40 deletions
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2
ArduPlane/Plane.h
View File

@ -841,7 +841,6 @@ private:
bool verify_RTL();
bool verify_continue_and_change_alt();
bool verify_wait_delay();
bool verify_change_alt();
bool verify_within_distance();
bool verify_altitude_wait(const AP_Mission::Mission_Command &cmd);
bool verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd);
@ -1027,7 +1026,6 @@ private:
void do_vtol_land(const AP_Mission::Mission_Command& cmd);
bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
void do_wait_delay(const AP_Mission::Mission_Command& cmd);
void do_change_alt(const AP_Mission::Mission_Command& cmd);
void do_within_distance(const AP_Mission::Mission_Command& cmd);
void do_change_speed(const AP_Mission::Mission_Command& cmd);
void do_set_home(const AP_Mission::Mission_Command& cmd);

2
ArduPlane/altitude.cpp
View File

@ -48,7 +48,7 @@ void Plane::adjust_altitude_target()
// stay within the range of the start and end locations in altitude
constrain_target_altitude_location(next_WP_loc, prev_WP_loc);
} else if (mission.get_current_do_cmd().id != MAV_CMD_CONDITION_CHANGE_ALT) {
} else {
set_target_altitude_location(next_WP_loc);
}

37
ArduPlane/commands_logic.cpp
View File

@ -103,10 +103,6 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
do_within_distance(cmd);
break;
case MAV_CMD_CONDITION_CHANGE_ALT:
do_change_alt(cmd);
break;
// Do commands
case MAV_CMD_DO_CHANGE_SPEED:
@ -277,9 +273,6 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
case MAV_CMD_CONDITION_CHANGE_ALT:
return verify_change_alt();
#if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE:
// assume parachute was released successfully
@ -792,23 +785,6 @@ void Plane::do_wait_delay(const AP_Mission::Mission_Command& cmd)
condition_value = cmd.content.delay.seconds * 1000; // convert seconds to milliseconds
}
/*
process a DO_CHANGE_ALT request
*/
void Plane::do_change_alt(const AP_Mission::Mission_Command& cmd)
{
condition_rate = labs((int)cmd.content.location.lat); // climb rate in cm/s
condition_value = cmd.content.location.alt; // To-Do: ensure this altitude is an absolute altitude?
if (condition_value < adjusted_altitude_cm()) {
condition_rate = -condition_rate;
}
set_target_altitude_current_adjusted();
change_target_altitude(condition_rate/10);
next_WP_loc.alt = condition_value; // For future nav calculations
reset_offset_altitude();
setup_glide_slope();
}
void Plane::do_within_distance(const AP_Mission::Mission_Command& cmd)
{
condition_value = cmd.content.distance.meters;
@ -827,19 +803,6 @@ bool Plane::verify_wait_delay()
return false;
}
bool Plane::verify_change_alt()
{
if( (condition_rate>=0 && adjusted_altitude_cm() >= condition_value) ||
(condition_rate<=0 && adjusted_altitude_cm() <= condition_value)) {
condition_value = 0;
return true;
}
// condition_rate is climb rate in cm/s.
// We divide by 10 because this function is called at 10hz
change_target_altitude(condition_rate/10);
return false;
}
bool Plane::verify_within_distance()
{
if (auto_state.wp_distance < MAX(condition_value,0)) {