MAVLink: remove MAVLink 0.9 protocol support

this simplifies the code a lot. We're not going back to 1.0

APMrover2/GCS_Mavlink.pde

@@ -27,7 +27,6 @@ static bool mavlink_active;
 
 static NOINLINE void send_heartbeat(mavlink_channel_t chan)
 {
-#if MAVLINK10 == ENABLED
     uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
     uint8_t system_status = MAV_STATE_ACTIVE;
     uint32_t custom_mode = control_mode;
@@ -92,12 +91,6 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
         base_mode,
         custom_mode,
         system_status);
-#else // MAVLINK10
-    mavlink_msg_heartbeat_send(
-        chan,
-        mavlink_system.type,
-        MAV_AUTOPILOT_ARDUPILOTMEGA);
-#endif // MAVLINK10
 }
 
 static NOINLINE void send_attitude(mavlink_channel_t chan)
@@ -125,7 +118,6 @@ static NOINLINE void send_fence_status(mavlink_channel_t chan)
 
 static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t packet_drops)
 {
-#if MAVLINK10 == ENABLED
     uint32_t control_sensors_present = 0;
     uint32_t control_sensors_enabled;
     uint32_t control_sensors_health;
@@ -228,69 +220,6 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
         0, // comm drops in pkts,
         0, 0, 0, 0);
 
-#else // MAVLINK10
-        uint8_t mode 	 = MAV_MODE_UNINIT;
-        uint8_t nav_mode = MAV_NAV_VECTOR;
-
-        switch(control_mode) {
-        case MANUAL:
-            mode 		= MAV_MODE_MANUAL;
-            break;
-        case LEARNING:
-            mode 		= MAV_MODE_TEST1;
-            break;
-        case FLY_BY_WIRE_A:
-            mode 		= MAV_MODE_TEST2;
-            nav_mode 	= 1;				//FBW nav_mode mapping;  1=A, 2=B, 3=C, etc.
-            break;
-        case FLY_BY_WIRE_B:
-            mode 		= MAV_MODE_TEST2;
-            nav_mode 	= 2;				//FBW nav_mode mapping;  1=A, 2=B, 3=C, etc.
-            break;
-        case GUIDED:
-            mode 		= MAV_MODE_GUIDED;
-            break;
-        case AUTO:
-            mode 		= MAV_MODE_AUTO;
-            nav_mode 	= MAV_NAV_WAYPOINT;
-            break;
-        case RTL:
-            mode 		= MAV_MODE_AUTO;
-            nav_mode 	= MAV_NAV_RETURNING;
-            break;
-        case LOITER:
-            mode 		= MAV_MODE_AUTO;
-            nav_mode 	= MAV_NAV_LOITER;
-            break;
-        case INITIALISING:
-            mode 		= MAV_MODE_UNINIT;
-            nav_mode 	= MAV_NAV_GROUNDED;
-            break;
-        case CIRCLE:
-            mode        = MAV_MODE_TEST3;
-            break;
-        }
-
-        uint8_t status 		= MAV_STATE_ACTIVE;
-        uint16_t battery_remaining = 1000.0 * (float)(g.pack_capacity - current_total1)/(float)g.pack_capacity;	//Mavlink scaling 100% = 1000
-
-        if (g.battery_monitoring == 3) {
-            /*setting a out-of-range value.
-            It informs to external devices that
-            it cannot be calculated properly just by voltage*/
-            battery_remaining = 1500;
-        }
-
-        mavlink_msg_sys_status_send(
-            chan,
-            mode,
-            nav_mode,
-            status,
-            load * 1000,
-            battery_voltage1 * 1000,
-            battery_remaining,
-            packet_drops);
-#endif // MAVLINK10
 }
 
 static void NOINLINE send_meminfo(mavlink_channel_t chan)
@@ -332,7 +261,6 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
 
 static void NOINLINE send_gps_raw(mavlink_channel_t chan)
 {
-#if MAVLINK10 == ENABLED
     uint8_t fix = g_gps->status();
     if (fix == GPS::GPS_OK) {
         fix = 3;
@@ -350,20 +278,6 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
         g_gps->ground_speed,  // cm/s
         g_gps->ground_course, // 1/100 degrees,
         g_gps->num_sats);
-
-#else // MAVLINK10
-        mavlink_msg_gps_raw_send(
-            chan,
-            micros(),
-            g_gps->status(),
-            g_gps->latitude / 1.0e7,
-            g_gps->longitude / 1.0e7,
-            g_gps->altitude / 100.0,
-            g_gps->hdop,
-            0.0,
-            g_gps->ground_speed / 100.0,
-            g_gps->ground_course / 100.0);
-#endif  // MAVLINK10
 }
 
 static void NOINLINE send_servo_out(mavlink_channel_t chan)
@@ -621,11 +535,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
         break;
 
     case MSG_GPS_RAW:
-#if MAVLINK10 == ENABLED
         CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
-#else
-        CHECK_PAYLOAD_SIZE(GPS_RAW);
-#endif
         send_gps_raw(chan);
         break;
 
@@ -1111,7 +1021,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
         }
 
-#if MAVLINK10 == ENABLED
     case MAVLINK_MSG_ID_COMMAND_LONG:
         {
             // decode
@@ -1169,135 +1078,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
         }
 
-#else // MAVLINK10
-    case MAVLINK_MSG_ID_ACTION:
-        {
-            // decode
-            mavlink_action_t packet;
-            mavlink_msg_action_decode(msg, &packet);
-            if (mavlink_check_target(packet.target,packet.target_component)) break;
-
-            uint8_t result = 0;
-
-            // do action
-            send_text(SEVERITY_LOW,PSTR("action received: "));
-//Serial.println(packet.action);
-            switch(packet.action){
-
-                case MAV_ACTION_LAUNCH:
-                    //set_mode(TAKEOFF);
-                    break;
-
-                case MAV_ACTION_RETURN:
-                    set_mode(RTL);
-                    result=1;
-                    break;
-
-                case MAV_ACTION_EMCY_LAND:
-                    //set_mode(LAND);
-                    break;
-
-                case MAV_ACTION_HALT:
-                    do_loiter_at_location();
-                    result=1;
-                    break;
-
-                    /* No mappable implementation in APM 2.0
-                case MAV_ACTION_MOTORS_START:
-                case MAV_ACTION_CONFIRM_KILL:
-                case MAV_ACTION_EMCY_KILL:
-                case MAV_ACTION_MOTORS_STOP:
-                case MAV_ACTION_SHUTDOWN:
-                    break;
-                */
-
-                case MAV_ACTION_CONTINUE:
-                    process_next_command();
-                    result=1;
-                    break;
-
-                case MAV_ACTION_SET_MANUAL:
-                    set_mode(MANUAL);
-                    result=1;
-                    break;
-
-                case MAV_ACTION_SET_AUTO:
-                    set_mode(AUTO);
-                    result=1;
-                    // clearing failsafe should not be needed
-                    // here. Added based on some puzzling results in
-                    // the simulator (tridge)
-                    failsafe = FAILSAFE_NONE;
-                    break;
-
-                case MAV_ACTION_STORAGE_READ:
-                    // we load all variables at startup, and
-                    // save on each mavlink set
-                    result=1;
-                    break;
-
-                case MAV_ACTION_STORAGE_WRITE:
-                    // this doesn't make any sense, as we save
-                    // all settings as they come in
-                    result=1;
-                    break;
-
-                case MAV_ACTION_CALIBRATE_RC: break;
-                    trim_radio();
-                    result=1;
-                    break;
-
-                case MAV_ACTION_CALIBRATE_GYRO:
-                case MAV_ACTION_CALIBRATE_MAG:
-                case MAV_ACTION_CALIBRATE_ACC:
-                case MAV_ACTION_CALIBRATE_PRESSURE:
-                case MAV_ACTION_REBOOT:  // this is a rough interpretation
-                #if LITE == DISABLED                
-                    startup_IMU_ground(true);
-                #endif
-                    result=1;
-                    break;
-
-                /*    For future implemtation
-                case MAV_ACTION_REC_START: break;
-                case MAV_ACTION_REC_PAUSE: break;
-                case MAV_ACTION_REC_STOP: break;
-                */
-
-                /* Takeoff is not an implemented flight mode in APM 2.0
-                case MAV_ACTION_TAKEOFF:
-                    set_mode(TAKEOFF);
-                    break;
-                */
-
-                case MAV_ACTION_NAVIGATE:
-                    set_mode(AUTO);
-                    result=1;
-                    break;
-
-                /* Land is not an implemented flight mode in APM 2.0
-                case MAV_ACTION_LAND:
-                    set_mode(LAND);
-                    break;
-                */
-
-                case MAV_ACTION_LOITER:
-                    set_mode(LOITER);
-                    result=1;
-                    break;
-
-                default: break;
-                }
-
-                mavlink_msg_action_ack_send(
-                    chan,
-                    packet.action,
-                    result
-                    );
-
-            break;
-        }
-#endif
 
     case MAVLINK_MSG_ID_SET_MODE:
 		{
@@ -1305,7 +1085,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             mavlink_set_mode_t packet;
             mavlink_msg_set_mode_decode(msg, &packet);
 
-#if MAVLINK10 == ENABLED
             if (!(packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)) {
                 // we ignore base_mode as there is no sane way to map
                 // from that bitmap to a APM flight mode. We rely on
@@ -1326,54 +1105,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 break;
             }
 
-#else // MAVLINK10
-
-            switch(packet.mode){
-
-                case MAV_MODE_MANUAL:
-					set_mode(MANUAL);
-					break;
-
-				case MAV_MODE_GUIDED:
-					set_mode(GUIDED);
-					break;
-
-				case MAV_MODE_AUTO:
-					if(mav_nav == 255 || mav_nav == MAV_NAV_WAYPOINT) 	set_mode(AUTO);
-					if(mav_nav == MAV_NAV_RETURNING)					set_mode(RTL);
-					if(mav_nav == MAV_NAV_LOITER)						set_mode(LOITER);
-					mav_nav = 255;
-					break;
-
-                case MAV_MODE_TEST1:
-					set_mode(LEARNING);
-					break;
-
-                case MAV_MODE_TEST2:
-					if(mav_nav == 255 || mav_nav == 1) 	set_mode(FLY_BY_WIRE_A);
-					if(mav_nav == 2)					set_mode(FLY_BY_WIRE_B);
-					//if(mav_nav == 3)					set_mode(FLY_BY_WIRE_C);
-					mav_nav = 255;
-					break;
-
-			}
-#endif
             break;
 		}
 
-#if MAVLINK10 == DISABLED
-    case MAVLINK_MSG_ID_SET_NAV_MODE:
-		{
-            // decode
-            mavlink_set_nav_mode_t packet;
-            mavlink_msg_set_nav_mode_decode(msg, &packet);
-			// To set some flight modes we must first receive a "set nav mode" message and then a "set mode" message
-			mav_nav = packet.nav_mode;
-			break;
-		}
-#endif // MAVLINK10
-
-
     case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST:
         {
             // decode
@@ -1713,9 +1447,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 break;
 
             default:
-#if MAVLINK10 == ENABLED
                 result = MAV_MISSION_UNSUPPORTED;
-#endif
                 break;
             }
 
@@ -1929,7 +1661,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 	#if HIL_MODE != HIL_MODE_DISABLED
         // This is used both as a sensor and to pass the location
         // in HIL_ATTITUDE mode.
-#if MAVLINK10 == ENABLED
 	case MAVLINK_MSG_ID_GPS_RAW_INT:
         {
             // decode
@@ -1942,19 +1673,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                           packet.vel*1.0e-2, packet.cog*1.0e-2, 0, 0);
             break;
         }
-#else // MAVLINK10
-	case MAVLINK_MSG_ID_GPS_RAW:
-        {
-            // decode
-            mavlink_gps_raw_t packet;
-            mavlink_msg_gps_raw_decode(msg, &packet);
-
-            // set gps hil sensor
-            g_gps->setHIL(packet.usec/1000.0,packet.lat,packet.lon,packet.alt,
-            packet.v,packet.hdg,0,0);
-            break;
-        }
-#endif // MAVLINK10
 
         //    Is this resolved? - MAVLink protocol change.....
     case MAVLINK_MSG_ID_VFR_HUD:
@@ -1967,7 +1685,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             airspeed = 100*packet.airspeed;
             break;
         }
-#if MAVLINK10 == ENABLED
+
 	case MAVLINK_MSG_ID_HIL_STATE:
 		{
 			mavlink_hil_state_t packet;
@@ -2008,7 +1726,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
 			break;
 		}
-#endif // MAVLINK10
 #endif
 #if HIL_MODE == HIL_MODE_ATTITUDE
     case MAVLINK_MSG_ID_ATTITUDE:

APMrover2/Makefile

@@ -24,9 +24,6 @@ apm2:
 apm2beta:
 	make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DAPM2_BETA_HARDWARE"
 
-mavlink10:
-	make -f Makefile EXTRAFLAGS="-DMAVLINK10"
-
 sitl:
 	make -f ../libraries/Desktop/Makefile.desktop
 

ArduCopter/APM_Config.h

@@ -109,7 +109,3 @@
 // #define MOT_6 CH_4
 // #define MOT_7 CH_7
 // #define MOT_8 CH_8
-
-// use this to enable the new MAVLink 1.0 protocol, instead of the
-// older 0.9 protocol
-// #define MAVLINK10 ENABLED

ArduCopter/GCS_Mavlink.pde

@@ -29,7 +29,6 @@ static bool mavlink_active;
 
 static NOINLINE void send_heartbeat(mavlink_channel_t chan)
 {
-#if MAVLINK10 == ENABLED
     uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
     uint8_t system_status = MAV_STATE_ACTIVE;
     uint32_t custom_mode = control_mode;
@@ -79,12 +78,6 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
         base_mode,
         custom_mode,
         system_status);
-#else // MAVLINK10
-    mavlink_msg_heartbeat_send(
-        chan,
-        MAV_QUADROTOR,
-        MAV_AUTOPILOT_ARDUPILOTMEGA);
-#endif // MAVLINK10
 }
 
 static NOINLINE void send_attitude(mavlink_channel_t chan)
@@ -102,7 +95,6 @@ static NOINLINE void send_attitude(mavlink_channel_t chan)
 
 static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t packet_drops)
 {
-#if MAVLINK10 == ENABLED
     uint32_t control_sensors_present = 0;
     uint32_t control_sensors_enabled;
     uint32_t control_sensors_health;
@@ -182,49 +174,6 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
         0, // comm drops in pkts,
         0, 0, 0, 0);
 
-#else // MAVLINK10
-    uint8_t mode 	 = MAV_MODE_UNINIT;
-    uint8_t nav_mode = MAV_NAV_VECTOR;
-
-    switch(control_mode) {
-    case LOITER:
-        mode 		= MAV_MODE_AUTO;
-        nav_mode 	= MAV_NAV_HOLD;
-        break;
-    case AUTO:
-        mode 		= MAV_MODE_AUTO;
-        nav_mode 	= MAV_NAV_WAYPOINT;
-        break;
-    case RTL:
-        mode 		= MAV_MODE_AUTO;
-        nav_mode 	= MAV_NAV_RETURNING;
-        break;
-    case GUIDED:
-        mode 		= MAV_MODE_GUIDED;
-        nav_mode 	= MAV_NAV_WAYPOINT;
-        break;
-    default:
-        mode 		= control_mode + 100;
-    }
-
-    uint8_t status 		= MAV_STATE_ACTIVE;
-
-    if (!motors.armed()) {
-        status 		= MAV_STATE_STANDBY;
-    }
-
-    uint16_t battery_remaining = 1000.0 * (float)(g.pack_capacity - current_total1)/(float)g.pack_capacity;	//Mavlink scaling 100% = 1000
-
-    mavlink_msg_sys_status_send(
-        chan,
-        mode,
-        nav_mode,
-        status,
-        0,
-        battery_voltage1 * 1000,
-        battery_remaining,
-        packet_drops);
-#endif // MAVLINK10
 }
 
 static void NOINLINE send_meminfo(mavlink_channel_t chan)
@@ -300,7 +249,6 @@ static void NOINLINE send_hwstatus(mavlink_channel_t chan)
 
 static void NOINLINE send_gps_raw(mavlink_channel_t chan)
 {
-#if MAVLINK10 == ENABLED
     uint8_t fix = g_gps->status();
     if (fix == GPS::GPS_OK) {
         fix = 3;
@@ -319,19 +267,6 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
         g_gps->ground_course, // 1/100 degrees,
         g_gps->num_sats);
 
-#else // MAVLINK10
-    mavlink_msg_gps_raw_send(
-        chan,
-        g_gps->last_fix_time*(uint64_t)1000,
-        g_gps->status(),
-        g_gps->latitude / 1.0e7,
-        g_gps->longitude / 1.0e7,
-        g_gps->altitude / 100.0,
-        g_gps->hdop,
-        current_loc.alt / 100.0, // was 0
-        g_gps->ground_speed / 100.0,
-        g_gps->ground_course / 100.0);
-#endif  // MAVLINK10
 }
 
 static void NOINLINE send_servo_out(mavlink_channel_t chan)
@@ -568,11 +503,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
         break;
 
     case MSG_GPS_RAW:
-#if MAVLINK10 == ENABLED
         CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
-#else
-        CHECK_PAYLOAD_SIZE(GPS_RAW);
-#endif
         send_gps_raw(chan);
         break;
 
@@ -990,12 +921,6 @@ GCS_MAVLINK::send_text(gcs_severity severity, const prog_char_t *str)
 void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 {
 	struct Location tell_command = {};				// command for telemetry
-
-	#if MAVLINK10 == ENABLED
-	#else
-		static uint8_t mav_nav = 255;							// For setting mode (some require receipt of 2 messages...)
-	#endif
-
 	switch (msg->msgid) {
 
 	case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: //66
@@ -1073,7 +998,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 			break;
 		}
 
-#if MAVLINK10 == ENABLED
     case MAVLINK_MSG_ID_COMMAND_LONG:
         {
             // decode
@@ -1133,140 +1057,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
             break;
         }
-#else // !MAVLINK10
-	case MAVLINK_MSG_ID_ACTION: //10
-		{
-			// decode
-			mavlink_action_t packet;
-			mavlink_msg_action_decode(msg, &packet);
-			if (mavlink_check_target(packet.target,packet.target_component)) break;
-
-            if (in_mavlink_delay) {
-                // don't execute action commands while in sensor
-                // initialisation
-                break;
-            }
-
-			uint8_t result = 0;
-
-			// do action
-			send_text(SEVERITY_LOW,PSTR("action received: "));
-//Serial.println(packet.action);
-			switch(packet.action){
-
-				case MAV_ACTION_LAUNCH:
-					//set_mode(TAKEOFF);
-					break;
-
-				case MAV_ACTION_RETURN:
-					set_mode(RTL);
-					result=1;
-					break;
-
-				case MAV_ACTION_EMCY_LAND:
-					set_mode(LAND);
-					break;
-
-				case MAV_ACTION_HALT:
-					do_loiter_at_location();
-					result=1;
-					break;
-
-					/* No mappable implementation in APM 2.0
-				case MAV_ACTION_MOTORS_START:
-				case MAV_ACTION_CONFIRM_KILL:
-				case MAV_ACTION_EMCY_KILL:
-				case MAV_ACTION_MOTORS_STOP:
-				case MAV_ACTION_SHUTDOWN:
-					break;
-				*/
-
-				case MAV_ACTION_CONTINUE:
-					//process_command_queue();
-					result=1;
-					break;
-
-				case MAV_ACTION_SET_MANUAL:
-					set_mode(STABILIZE);
-					result=1;
-					break;
-
-				case MAV_ACTION_SET_AUTO:
-					set_mode(AUTO);
-					result=1;
-					break;
-
-				case MAV_ACTION_STORAGE_READ:
-                    // we load all variables at startup, and
-                    // save on each mavlink set
-					result=1;
-					break;
-
-				case MAV_ACTION_STORAGE_WRITE:
-                    // this doesn't make any sense, as we save
-                    // all settings as they come in
-					result=1;
-					break;
-
-				case MAV_ACTION_CALIBRATE_RC: break;
-					trim_radio();
-					result=1;
-					break;
-
-				case MAV_ACTION_CALIBRATE_GYRO:
-				case MAV_ACTION_CALIBRATE_MAG:
-				case MAV_ACTION_CALIBRATE_PRESSURE:
-					break;
-
-				case MAV_ACTION_CALIBRATE_ACC:
-					imu.init_accel(mavlink_delay, flash_leds);
-					result=1;
-					break;
-
-
-				//case MAV_ACTION_REBOOT:  // this is a rough interpretation
-					//startup_IMU_ground();
-					//result=1;
-				//	break;
-
-				/*	For future implemtation
-				case MAV_ACTION_REC_START: break;
-				case MAV_ACTION_REC_PAUSE: break;
-				case MAV_ACTION_REC_STOP: break;
-				*/
-
-				/* Takeoff is not an implemented flight mode in APM 2.0
-				case MAV_ACTION_TAKEOFF:
-					set_mode(TAKEOFF);
-					break;
-				*/
-
-				case MAV_ACTION_NAVIGATE:
-					set_mode(AUTO);
-					result=1;
-					break;
-
-				case MAV_ACTION_LAND:
-					set_mode(LAND);
-					break;
-
-				case MAV_ACTION_LOITER:
-					set_mode(LOITER);
-					result=1;
-					break;
-
-				default: break;
-				}
-
-				mavlink_msg_action_ack_send(
-					chan,
-					packet.action,
-					result
-					);
-
-			break;
-		}
-#endif // MAVLINK10
 
 	case MAVLINK_MSG_ID_SET_MODE:  //11
 		{
@@ -1274,7 +1064,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 			mavlink_set_mode_t packet;
 			mavlink_msg_set_mode_decode(msg, &packet);
 
-#if MAVLINK10 == ENABLED
             if (!(packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)) {
                 // we ignore base_mode as there is no sane way to map
                 // from that bitmap to a APM flight mode. We rely on
@@ -1297,29 +1086,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 break;
             }
 
-#else // MAVLINK.9
-			switch (packet.mode) {
-
-				case MAV_MODE_MANUAL:
-					set_mode(STABILIZE);
-					break;
-
-				case MAV_MODE_GUIDED:
-					set_mode(GUIDED);
-					break;
-
-				case MAV_MODE_AUTO:
-					if(mav_nav == 255 || mav_nav == MAV_NAV_WAYPOINT) 	set_mode(AUTO);
-					if(mav_nav == MAV_NAV_RETURNING)					set_mode(RTL);
-					if(mav_nav == MAV_NAV_LOITER)						set_mode(LOITER);
-					mav_nav = 255;
-					break;
-
-				case MAV_MODE_TEST1:
-					set_mode(STABILIZE);
-					break;
-			}
-#endif
             break;
 		}
 
@@ -1849,75 +1615,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
         }
 
-#if HIL_MODE != HIL_MODE_DISABLED && MAVLINK10 != ENABLED
-        // This is used both as a sensor and to pass the location
-        // in HIL_ATTITUDE mode. Note that MAVLINK10 uses HIL_STATE
-        // instead
-	case MAVLINK_MSG_ID_GPS_RAW: //32
-        {
-            // decode
-            mavlink_gps_raw_t packet;
-            mavlink_msg_gps_raw_decode(msg, &packet);
 
-            // set gps hil sensor
+#if HIL_MODE != HIL_MODE_DISABLED
-            g_gps->setHIL(packet.usec/1000,packet.lat,packet.lon,packet.alt,
-                          packet.v,packet.hdg,0,0);
-            if (gps_base_alt == 0) {
-                gps_base_alt = packet.alt*100;
-            }
-            current_loc.lng = packet.lon * T7;
-            current_loc.lat = packet.lat * T7;
-            current_loc.alt = g_gps->altitude - gps_base_alt;
-            if (!home_is_set) {
-                init_home();
-            }
-            break;
-        }
-
-#if HIL_MODE == HIL_MODE_ATTITUDE
-    case MAVLINK_MSG_ID_ATTITUDE: //30
-        {
-            // decode
-            mavlink_attitude_t packet;
-            mavlink_msg_attitude_decode(msg, &packet);
-
-            // set AHRS hil sensor
-            ahrs.setHil(packet.roll,packet.pitch,packet.yaw,packet.rollspeed,
-            packet.pitchspeed,packet.yawspeed);
-
-            // rad/sec
-            /*
-            Vector3f gyros;
-            gyros.x = (float)packet.rollspeed;
-            gyros.y = (float)packet.pitchspeed;
-            gyros.z = (float)packet.yawspeed;
-
-            imu.set_gyro(gyros);
-			*/
-            //imu.set_accel(accels);
-
-            // rad/sec            // JLN update - FOR HIL SIMULATION WITH AEROSIM
-            Vector3f gyros;
-            gyros.x = (float)packet.rollspeed / 1000.0;
-            gyros.y = (float)packet.pitchspeed / 1000.0;
-            gyros.z = (float)packet.yawspeed / 1000.0;
-
-            imu.set_gyro(gyros);
-
-            // m/s/s
-            Vector3f accels;
-            accels.x = (float)packet.roll * gravity / 1000.0;
-            accels.y = (float)packet.pitch * gravity / 1000.0;
-            accels.z = (float)packet.yaw * gravity / 1000.0;
-
-            imu.set_accel(accels);
-
-            break;
-        }
-#endif // HIL_MODE_ATTITUDE
-#endif // HIL_MODE != HIL_MODE_DISABLED && MAVLINK10 != ENABLED
-
-#if MAVLINK10 == ENABLED && HIL_MODE != HIL_MODE_DISABLED
 	case MAVLINK_MSG_ID_HIL_STATE:
 		{
 			mavlink_hil_state_t packet;
@@ -1968,7 +1667,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
 			break;
 		}
-#endif //  MAVLINK10 == ENABLED && HIL_MODE != HIL_MODE_DISABLED
+#endif //  HIL_MODE != HIL_MODE_DISABLED
 
 /*
 	case MAVLINK_MSG_ID_HEARTBEAT:

ArduCopter/Makefile

@@ -21,33 +21,15 @@ heli:
 apm2:
 	make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2"
 
-apm2-mavlink10:
-	make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DMAVLINK10=ENABLED"
-
-apm2-mavlink09:
-	make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DMAVLINK10=DISABLED"
-
 apm2hexa:
 	make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DFRAME_CONFIG=HEXA_FRAME"
 
 apm2beta:
 	make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DAPM2_BETA_HARDWARE"
 
-mavlink10:
-	make -f Makefile EXTRAFLAGS="-DMAVLINK10=ENABLED"
-
-mavlink09:
-	make -f Makefile EXTRAFLAGS="-DMAVLINK10=DISABLED"
-
 sitl:
 	make -f ../libraries/Desktop/Makefile.desktop
 
-sitl-mavlink10:
-	make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMAVLINK10=ENABLED"
-
-sitl-mavlink09:
-	make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMAVLINK10=DISABLED"
-
 sitl-octa:
 	make -f ../libraries/Desktop/Makefile.desktop octa
 

ArduCopter/config.h

@@ -67,14 +67,6 @@
 # endif
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// MAVLINK10
-//
-#ifndef MAVLINK10
-# define MAVLINK10	ENABLED
-#endif
-
-
 //////////////////////////////////////////////////////////////////////////////
 // FRAME_CONFIG
 //

ArduCopter/options.cmake

@@ -97,10 +97,6 @@ apm_option("MAV_SYSTEM_ID" TYPE STRING ADVANCED
     DESCRIPTION "MAVLink System ID?"
     DEFAULT "1")
 
-apm_option("MAVLINK10" TYPE BOOL DEFINE_ONLY BUILD_FLAG
-    DESCRIPTION "Use mavlink version 1.0?" 
-    DEFAULT OFF)
-
 apm_option("SERIAL0_BAUD" TYPE STRING ADVANCED
     DESCRIPTION "Serial 0 baudrate?"
     DEFAULT "115200" 

ArduPlane/GCS_Mavlink.pde

@@ -27,7 +27,6 @@ static bool mavlink_active;
 
 static NOINLINE void send_heartbeat(mavlink_channel_t chan)
 {
-#if MAVLINK10 == ENABLED
     uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
     uint8_t system_status = MAV_STATE_ACTIVE;
     uint32_t custom_mode = control_mode;
@@ -98,12 +97,6 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
         base_mode,
         custom_mode,
         system_status);
-#else // MAVLINK10
-    mavlink_msg_heartbeat_send(
-        chan,
-        mavlink_system.type,
-        MAV_AUTOPILOT_ARDUPILOTMEGA);
-#endif // MAVLINK10
 }
 
 static NOINLINE void send_attitude(mavlink_channel_t chan)
@@ -130,7 +123,6 @@ static NOINLINE void send_fence_status(mavlink_channel_t chan)
 
 static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t packet_drops)
 {
-#if MAVLINK10 == ENABLED
     uint32_t control_sensors_present = 0;
     uint32_t control_sensors_enabled;
     uint32_t control_sensors_health;
@@ -233,69 +225,6 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
         0, // comm drops in pkts,
         0, 0, 0, 0);
 
-#else // MAVLINK10
-        uint8_t mode 	 = MAV_MODE_UNINIT;
-        uint8_t nav_mode = MAV_NAV_VECTOR;
-
-        switch(control_mode) {
-        case MANUAL:
-            mode 		= MAV_MODE_MANUAL;
-            break;
-        case STABILIZE:
-            mode 		= MAV_MODE_TEST1;
-            break;
-        case FLY_BY_WIRE_A:
-            mode 		= MAV_MODE_TEST2;
-            nav_mode 	= 1;				//FBW nav_mode mapping;  1=A, 2=B, 3=C, etc.
-            break;
-        case FLY_BY_WIRE_B:
-            mode 		= MAV_MODE_TEST2;
-            nav_mode 	= 2;				//FBW nav_mode mapping;  1=A, 2=B, 3=C, etc.
-            break;
-        case GUIDED:
-            mode 		= MAV_MODE_GUIDED;
-            break;
-        case AUTO:
-            mode 		= MAV_MODE_AUTO;
-            nav_mode 	= MAV_NAV_WAYPOINT;
-            break;
-        case RTL:
-            mode 		= MAV_MODE_AUTO;
-            nav_mode 	= MAV_NAV_RETURNING;
-            break;
-        case LOITER:
-            mode 		= MAV_MODE_AUTO;
-            nav_mode 	= MAV_NAV_LOITER;
-            break;
-        case INITIALISING:
-            mode 		= MAV_MODE_UNINIT;
-            nav_mode 	= MAV_NAV_GROUNDED;
-            break;
-        case CIRCLE:
-            mode        = MAV_MODE_TEST3;
-            break;
-        }
-
-        uint8_t status 		= MAV_STATE_ACTIVE;
-        uint16_t battery_remaining = 1000.0 * (float)(g.pack_capacity - current_total1)/(float)g.pack_capacity;	//Mavlink scaling 100% = 1000
-
-        if (g.battery_monitoring == 3) {
-            /*setting a out-of-range value.
-            It informs to external devices that
-            it cannot be calculated properly just by voltage*/
-            battery_remaining = 1500;
-        }
-
-        mavlink_msg_sys_status_send(
-            chan,
-            mode,
-            nav_mode,
-            status,
-            load * 1000,
-            battery_voltage1 * 1000,
-            battery_remaining,
-            packet_drops);
-#endif // MAVLINK10
 }
 
 static void NOINLINE send_meminfo(mavlink_channel_t chan)
@@ -337,7 +266,6 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
 
 static void NOINLINE send_gps_raw(mavlink_channel_t chan)
 {
-#if MAVLINK10 == ENABLED
     uint8_t fix = g_gps->status();
     if (fix == GPS::GPS_OK) {
         fix = 3;
@@ -355,20 +283,6 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
         g_gps->ground_speed,  // cm/s
         g_gps->ground_course, // 1/100 degrees,
         g_gps->num_sats);
-
-#else // MAVLINK10
-        mavlink_msg_gps_raw_send(
-            chan,
-            g_gps->last_fix_time*(uint64_t)1000,
-            g_gps->status(),
-            g_gps->latitude / 1.0e7,
-            g_gps->longitude / 1.0e7,
-            g_gps->altitude / 100.0,
-            g_gps->hdop,
-            0.0,
-            g_gps->ground_speed / 100.0,
-            g_gps->ground_course / 100.0);
-#endif  // MAVLINK10
 }
 
 static void NOINLINE send_servo_out(mavlink_channel_t chan)
@@ -591,11 +505,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
         break;
 
     case MSG_GPS_RAW:
-#if MAVLINK10 == ENABLED
         CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
-#else
-        CHECK_PAYLOAD_SIZE(GPS_RAW);
-#endif
         send_gps_raw(chan);
         break;
 
@@ -1086,7 +996,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
         }
 
-#if MAVLINK10 == ENABLED
     case MAVLINK_MSG_ID_COMMAND_LONG:
         {
             // decode
@@ -1142,133 +1051,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
         }
 
-#else // MAVLINK10
-    case MAVLINK_MSG_ID_ACTION:
-        {
-            // decode
-            mavlink_action_t packet;
-            mavlink_msg_action_decode(msg, &packet);
-            if (mavlink_check_target(packet.target,packet.target_component)) break;
-
-            uint8_t result = 0;
-
-            // do action
-            send_text(SEVERITY_LOW,PSTR("action received: "));
-//Serial.println(packet.action);
-            switch(packet.action){
-
-                case MAV_ACTION_LAUNCH:
-                    //set_mode(TAKEOFF);
-                    break;
-
-                case MAV_ACTION_RETURN:
-                    set_mode(RTL);
-                    result=1;
-                    break;
-
-                case MAV_ACTION_EMCY_LAND:
-                    //set_mode(LAND);
-                    break;
-
-                case MAV_ACTION_HALT:
-                    do_loiter_at_location();
-                    result=1;
-                    break;
-
-                    /* No mappable implementation in APM 2.0
-                case MAV_ACTION_MOTORS_START:
-                case MAV_ACTION_CONFIRM_KILL:
-                case MAV_ACTION_EMCY_KILL:
-                case MAV_ACTION_MOTORS_STOP:
-                case MAV_ACTION_SHUTDOWN:
-                    break;
-                */
-
-                case MAV_ACTION_CONTINUE:
-                    process_next_command();
-                    result=1;
-                    break;
-
-                case MAV_ACTION_SET_MANUAL:
-                    set_mode(MANUAL);
-                    result=1;
-                    break;
-
-                case MAV_ACTION_SET_AUTO:
-                    set_mode(AUTO);
-                    result=1;
-                    // clearing failsafe should not be needed
-                    // here. Added based on some puzzling results in
-                    // the simulator (tridge)
-                    failsafe = FAILSAFE_NONE;
-                    break;
-
-                case MAV_ACTION_STORAGE_READ:
-                    // we load all variables at startup, and
-                    // save on each mavlink set
-                    result=1;
-                    break;
-
-                case MAV_ACTION_STORAGE_WRITE:
-                    // this doesn't make any sense, as we save
-                    // all settings as they come in
-                    result=1;
-                    break;
-
-                case MAV_ACTION_CALIBRATE_RC: break;
-                    trim_radio();
-                    result=1;
-                    break;
-
-                case MAV_ACTION_CALIBRATE_GYRO:
-                case MAV_ACTION_CALIBRATE_MAG:
-                case MAV_ACTION_CALIBRATE_ACC:
-                case MAV_ACTION_CALIBRATE_PRESSURE:
-                case MAV_ACTION_REBOOT:  // this is a rough interpretation
-                    startup_IMU_ground(true);
-                    result=1;
-                    break;
-
-                /*    For future implemtation
-                case MAV_ACTION_REC_START: break;
-                case MAV_ACTION_REC_PAUSE: break;
-                case MAV_ACTION_REC_STOP: break;
-                */
-
-                /* Takeoff is not an implemented flight mode in APM 2.0
-                case MAV_ACTION_TAKEOFF:
-                    set_mode(TAKEOFF);
-                    break;
-                */
-
-                case MAV_ACTION_NAVIGATE:
-                    set_mode(AUTO);
-                    result=1;
-                    break;
-
-                /* Land is not an implemented flight mode in APM 2.0
-                case MAV_ACTION_LAND:
-                    set_mode(LAND);
-                    break;
-                */
-
-                case MAV_ACTION_LOITER:
-                    set_mode(LOITER);
-                    result=1;
-                    break;
-
-                default: break;
-                }
-
-                mavlink_msg_action_ack_send(
-                    chan,
-                    packet.action,
-                    result
-                    );
-
-            break;
-        }
-#endif
 
     case MAVLINK_MSG_ID_SET_MODE:
 		{
@@ -1276,7 +1058,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             mavlink_set_mode_t packet;
             mavlink_msg_set_mode_decode(msg, &packet);
 
-#if MAVLINK10 == ENABLED
             if (!(packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)) {
                 // we ignore base_mode as there is no sane way to map
                 // from that bitmap to a APM flight mode. We rely on
@@ -1297,54 +1078,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 break;
             }
 
-#else // MAVLINK10
-
-            switch(packet.mode){
-
-                case MAV_MODE_MANUAL:
-					set_mode(MANUAL);
-					break;
-
-				case MAV_MODE_GUIDED:
-					set_mode(GUIDED);
-					break;
-
-				case MAV_MODE_AUTO:
-					if(mav_nav == 255 || mav_nav == MAV_NAV_WAYPOINT) 	set_mode(AUTO);
-					if(mav_nav == MAV_NAV_RETURNING)					set_mode(RTL);
-					if(mav_nav == MAV_NAV_LOITER)						set_mode(LOITER);
-					mav_nav = 255;
-					break;
-
-                case MAV_MODE_TEST1:
-					set_mode(STABILIZE);
-					break;
-
-                case MAV_MODE_TEST2:
-					if(mav_nav == 255 || mav_nav == 1) 	set_mode(FLY_BY_WIRE_A);
-					if(mav_nav == 2)					set_mode(FLY_BY_WIRE_B);
-					//if(mav_nav == 3)					set_mode(FLY_BY_WIRE_C);
-					mav_nav = 255;
-					break;
-
-			}
-#endif
             break;
 		}
 
-#if MAVLINK10 == DISABLED
-    case MAVLINK_MSG_ID_SET_NAV_MODE:
-		{
-            // decode
-            mavlink_set_nav_mode_t packet;
-            mavlink_msg_set_nav_mode_decode(msg, &packet);
-			// To set some flight modes we must first receive a "set nav mode" message and then a "set mode" message
-			mav_nav = packet.nav_mode;
-			break;
-		}
-#endif // MAVLINK10
-
-
     case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST:
         {
             // decode
@@ -1684,9 +1420,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 break;
 
             default:
-#if MAVLINK10 == ENABLED
                 result = MAV_MISSION_UNSUPPORTED;
-#endif
                 break;
             }
 
@@ -1897,10 +1631,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
         }
 
-	#if HIL_MODE != HIL_MODE_DISABLED
+#if HIL_MODE != HIL_MODE_DISABLED
         // This is used both as a sensor and to pass the location
         // in HIL_ATTITUDE mode.
-#if MAVLINK10 == ENABLED
 	case MAVLINK_MSG_ID_GPS_RAW_INT:
         {
             // decode
@@ -1913,19 +1646,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                           packet.vel*1.0e-2, packet.cog*1.0e-2, 0, 10);
             break;
         }
-#else // MAVLINK10
-	case MAVLINK_MSG_ID_GPS_RAW:
-        {
-            // decode
-            mavlink_gps_raw_t packet;
-            mavlink_msg_gps_raw_decode(msg, &packet);
-
-            // set gps hil sensor
-            g_gps->setHIL(packet.usec/1000,packet.lat,packet.lon,packet.alt,
-            packet.v,packet.hdg,0,10);
-            break;
-        }
-#endif // MAVLINK10
 
         //    Is this resolved? - MAVLink protocol change.....
     case MAVLINK_MSG_ID_VFR_HUD:
@@ -1938,7 +1658,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             airspeed = 100*packet.airspeed;
             break;
         }
-#if MAVLINK10 == ENABLED
+
 	case MAVLINK_MSG_ID_HIL_STATE:
 		{
 			mavlink_hil_state_t packet;
@@ -1979,8 +1699,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
 			break;
 		}
-#endif // MAVLINK10
+#endif // HIL_MODE
-#endif
 #if HIL_MODE == HIL_MODE_ATTITUDE
     case MAVLINK_MSG_ID_ATTITUDE:
         {

ArduPlane/Makefile

@@ -34,27 +34,9 @@ apm2beta:
 	make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DAPM2_BETA_HARDWARE"
 
 
-apm2-mavlink10:
-	make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DMAVLINK10=ENABLED"
-
-apm2-mavlink09:
-	make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DMAVLINK10=DISABLED"
-
-mavlink10:
-	make -f Makefile EXTRAFLAGS="-DMAVLINK10=ENABLED"
-
-mavlink09:
-	make -f Makefile EXTRAFLAGS="-DMAVLINK10=DISABLED"
-
 sitl:
 	make -f ../libraries/Desktop/Makefile.desktop
 
-sitl-mavlink10:
-	make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMAVLINK10=ENABLED"
-
-sitl-mavlink09:
-	make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMAVLINK10=DISABLED"
-
 sitl-mount:
 	make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMOUNT=ENABLED"
 

ArduPlane/config.h

@@ -121,13 +121,6 @@
 #endif
 
 
-//////////////////////////////////////////////////////////////////////////////
-// MAVLINK10
-//
-#ifndef MAVLINK10
-# define MAVLINK10	ENABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // AIRSPEED_SENSOR
 // AIRSPEED_RATIO

ArduPlane/options.cmake

@@ -97,10 +97,6 @@ apm_option("MAV_SYSTEM_ID" TYPE STRING ADVANCED
     DESCRIPTION "MAVLink System ID?"
     DEFAULT "1")
 
-apm_option("MAVLINK10" TYPE BOOL DEFINE_ONLY BUILD_FLAG
-    DESCRIPTION "Use mavlink version 1.0?" 
-    DEFAULT OFF)
-
 apm_option("SERIAL0_BAUD" TYPE STRING ADVANCED
     DESCRIPTION "Serial 0 baudrate?"
     DEFAULT "115200" 

Tools/autotest/pysim/util.py

@@ -59,8 +59,6 @@ def deltree(path):
 
 def build_SIL(atype, target='sitl'):
     '''build desktop SIL'''
-    if os.getenv('MAVLINK10'):
-        target += '-mavlink10'
     run_cmd("make clean %s" % target,
             dir=reltopdir(atype),
             checkfail=True)

Tools/scripts/build_all.sh

@@ -8,7 +8,7 @@ set -x
 
 echo "Testing ArduPlane build"
 pushd ArduPlane
-for b in all apm2 apm2beta hil hilsensors mavlink10 sitl sitl-mavlink10 sitl-mount; do
+for b in all apm2 apm2beta hil hilsensors sitl sitl-mount; do
     pwd
     make clean
     make $b

libraries/Desktop/Makefile.desktop

@@ -25,6 +25,3 @@ hexa:
 
 y6:
 	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DFRAME_CONFIG=Y6_FRAME"
-
-mavlink10:
-	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DMAVLINK10"

libraries/GCS_MAVLink/GCS_MAVLink.h

@@ -12,26 +12,13 @@
 // to select MAVLink 1.0 in the arduino GUI build
 //#define MAVLINK_SEPARATE_HELPERS
 
-#ifndef MAVLINK10
+#include "include/mavlink/v1.0/ardupilotmega/version.h"
-// default to MAVLINK 1.0
-#define MAVLINK10 ENABLED
-#endif
-
-#if MAVLINK10 == ENABLED
-# include "include/mavlink/v1.0/ardupilotmega/version.h"
-#else
-# include "include/mavlink/v0.9/ardupilotmega/version.h"
-#endif
 
 // this allows us to make mavlink_message_t much smaller
 #define MAVLINK_MAX_PAYLOAD_LEN MAVLINK_MAX_DIALECT_PAYLOAD_SIZE
 
 #define MAVLINK_COMM_NUM_BUFFERS 2
-#if MAVLINK10==ENABLED
+#include "include/mavlink/v1.0/mavlink_types.h"
-# include "include/mavlink/v1.0/mavlink_types.h"
-#else
-# include "include/mavlink/v0.9/mavlink_types.h"
-#endif
 
 /// MAVLink stream used for HIL interaction
 extern BetterStream	*mavlink_comm_0_port;
@@ -124,11 +111,7 @@ static inline int comm_get_txspace(mavlink_channel_t chan)
 }
 
 #define MAVLINK_USE_CONVENIENCE_FUNCTIONS
-#if MAVLINK10==ENABLED
+#include "include/mavlink/v1.0/ardupilotmega/mavlink.h"
-# include "include/mavlink/v1.0/ardupilotmega/mavlink.h"
-#else
-# include "include/mavlink/v0.9/ardupilotmega/mavlink.h"
-#endif
 
 uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid);
 

libraries/GCS_MAVLink/Mavlink_compat.h

@@ -2,7 +2,6 @@
   compatibility header during transition to MAVLink 1.0
  */
 
-#if MAVLINK10==1
 // in MAVLink 1.0 'waypoint' becomes 'mission'. We can remove these
 // mappings once we are not trying to support both protocols
 
@@ -72,103 +71,3 @@ static uint8_t mav_var_type(enum ap_var_type t)
 
 #define MAV_FIXED_WING MAV_TYPE_FIXED_WING
 
-#else // MAVLINK10
-
-static uint8_t mav_var_type(enum ap_var_type t)
-{
-	return 0;
-}
-
-#define MAV_MISSION_ACCEPTED 0
-#define MAV_MISSION_UNSUPPORTED       1
-#define MAV_MISSION_UNSUPPORTED_FRAME 1
-#define MAV_MISSION_ERROR             1
-#define MAV_MISSION_INVALID_SEQUENCE  1
-
-/*
-  some functions have some extra params in MAVLink 1.0
- */
-
-static void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon,
-						 int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy,
-						 int16_t vz, uint16_t hdg)
-{
-	mavlink_msg_global_position_int_send(
-		chan,
-		lat,
-		lon,
-		alt,
-		vx, vy, vz);
-}
-
-static void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port,
-						int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled,
-						int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled,
-						int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi)
-{
-    mavlink_msg_rc_channels_scaled_send(
-        chan,
-	chan1_scaled,
-	chan2_scaled,
-	chan3_scaled,
-	chan4_scaled,
-	chan5_scaled,
-	chan6_scaled,
-	chan7_scaled,
-	chan8_scaled,
-	rssi);
-}
-
-static void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port,
-					     uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw,
-					     uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw,
-					     uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
-{
-	mavlink_msg_rc_channels_raw_send(
-		chan,
-		chan1_raw,
-		chan2_raw,
-		chan3_raw,
-		chan4_raw,
-		chan5_raw,
-		chan6_raw,
-		chan7_raw,
-		chan8_raw,
-		rssi);
-}
-
-
-static void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t port,
-					      uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw,
-					      uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw,
-					      uint16_t servo7_raw, uint16_t servo8_raw)
-{
-        mavlink_msg_servo_output_raw_send(
-		chan,
-		servo1_raw,
-		servo2_raw,
-		servo3_raw,
-		servo4_raw,
-		servo5_raw,
-		servo6_raw,
-		servo7_raw,
-		servo8_raw);
-}
-
-static void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const char *text)
-{
-        mavlink_msg_statustext_send(chan, severity, (const int8_t*) text);
-}
-
-static void mavlink_msg_param_value_send(mavlink_channel_t chan, const char *param_id,
-					 float param_value, uint8_t param_type,
-					 uint16_t param_count, uint16_t param_index)
-{
-	mavlink_msg_param_value_send(
-		chan,
-		(int8_t *)param_id,
-		param_value,
-		param_count,
-		param_index);
-}
-#endif // MAVLINK10