Copter: remove Position mode

ArduCopter/GCS_Mavlink.pde

@@ -174,9 +174,6 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
         break;
-    case POSITION:
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
-        break;
     case SPORT:
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
         break;

ArduCopter/Parameters.pde

@@ -315,42 +315,42 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Param: FLTMODE1
     // @DisplayName: Flight Mode 1
     // @Description: Flight mode when Channel 5 pwm is <= 1230
-    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport
+    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport
     // @User: Standard
     GSCALAR(flight_mode1, "FLTMODE1",               FLIGHT_MODE_1),
 
     // @Param: FLTMODE2
     // @DisplayName: Flight Mode 2
     // @Description: Flight mode when Channel 5 pwm is >1230, <= 1360
-    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport
+    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport
     // @User: Standard
     GSCALAR(flight_mode2, "FLTMODE2",               FLIGHT_MODE_2),
 
     // @Param: FLTMODE3
     // @DisplayName: Flight Mode 3
     // @Description: Flight mode when Channel 5 pwm is >1360, <= 1490
-    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport
+    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport
     // @User: Standard
     GSCALAR(flight_mode3, "FLTMODE3",               FLIGHT_MODE_3),
 
     // @Param: FLTMODE4
     // @DisplayName: Flight Mode 4
     // @Description: Flight mode when Channel 5 pwm is >1490, <= 1620
-    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport
+    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport
     // @User: Standard
     GSCALAR(flight_mode4, "FLTMODE4",               FLIGHT_MODE_4),
 
     // @Param: FLTMODE5
     // @DisplayName: Flight Mode 5
     // @Description: Flight mode when Channel 5 pwm is >1620, <= 1749
-    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport
+    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport
     // @User: Standard
     GSCALAR(flight_mode5, "FLTMODE5",               FLIGHT_MODE_5),
 
     // @Param: FLTMODE6
     // @DisplayName: Flight Mode 6
     // @Description: Flight mode when Channel 5 pwm is >=1750
-    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport
+    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport
     // @User: Standard
     GSCALAR(flight_mode6, "FLTMODE6",               FLIGHT_MODE_6),
 

ArduCopter/config.h

@@ -631,24 +631,6 @@
  # define LOITER_NAV                NAV_LOITER
 #endif
 
-// POSITION Mode
-#ifndef POSITION_YAW
- # define POSITION_YAW             	YAW_HOLD
-#endif
-
-#ifndef POSITION_RP
- # define POSITION_RP               ROLL_PITCH_LOITER
-#endif
-
-#ifndef POSITION_THR
- # define POSITION_THR              THROTTLE_MANUAL_TILT_COMPENSATED
-#endif
-
-#ifndef POSITION_NAV
- # define POSITION_NAV              NAV_LOITER
-#endif
-
-
 // RTL Mode
 // Note: RTL Yaw behaviour is controlled by WP_YAW_BEHAVIOR parameter
 #ifndef RTL_RP

ArduCopter/defines.h

@@ -123,7 +123,6 @@
 #define LOITER 5                        // Hold a single location
 #define RTL 6                           // AUTO control
 #define CIRCLE 7                        // AUTO control
-#define POSITION 8                      // AUTO control
 #define LAND 9                          // AUTO control
 #define OF_LOITER 10                    // Hold a single location using optical flow sensor
 #define DRIFT 11                        // DRIFT mode (Note: 12 is no longer used)

ArduCopter/system.pde

@@ -346,7 +346,6 @@ static bool mode_requires_GPS(uint8_t mode) {
         case LOITER:
         case RTL:
         case CIRCLE:
-        case POSITION:
         case DRIFT:
             return true;
         default:
@@ -411,12 +410,6 @@ static bool set_mode(uint8_t mode)
             success = loiter_init(ignore_checks);
             break;
 
-        case POSITION:
-            if (GPS_ok() || ignore_checks) {
-                success = true;
-            }
-            break;
-
         case GUIDED:
             success = guided_init(ignore_checks);
             break;
@@ -568,9 +561,6 @@ print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
     case CIRCLE:
         port->print_P(PSTR("CIRCLE"));
         break;
-    case POSITION:
-        port->print_P(PSTR("POSITION"));
-        break;
     case LAND:
         port->print_P(PSTR("LAND"));
         break;