Sub: Remove rc receiver code

ArduSub/ArduSub.cpp

@@ -25,8 +25,7 @@
   and the maximum time they are expected to take (in microseconds)
  */
 const AP_Scheduler::Task Sub::scheduler_tasks[] = {
-    SCHED_TASK(rc_loop,              100,    130),
+    SCHED_TASK(fifty_hz_loop,         50,     75),
-    SCHED_TASK(throttle_loop,         50,     75),
     SCHED_TASK(update_GPS,            50,    200),
 #if OPTFLOW == ENABLED
     SCHED_TASK(update_optical_flow,  200,    160),
@@ -213,22 +212,20 @@ void Sub::fast_loop()
     }
 }
 
-// rc_loops - reads user input from transmitter/receiver
+// 50 Hz tasks
-// called at 100hz
+void Sub::fifty_hz_loop()
-void Sub::rc_loop()
-{
-    // Read radio
-    // -----------------------------------------
-    read_radio();
-    failsafe_manual_control_check();
-}
-
-// throttle_loop - should be run at 50 hz
-// ---------------------------
-void Sub::throttle_loop()
 {
     // check auto_armed status
     update_auto_armed();
+
+    // check pilot input failsafe
+    failsafe_manual_control_check();
+
+    if (hal.rcin->new_input()) {
+        // Update servo output
+        RC_Channels::set_pwm_all();
+        SRV_Channels::output_ch_all();
+    }
 }
 
 // update_mount - update camera mount position
@@ -466,13 +463,10 @@ void Sub::update_simple_mode(void)
     float rollx, pitchx;
 
     // exit immediately if no new radio frame or not in simple mode
-    if (ap.simple_mode == 0 || !ap.new_radio_frame) {
+    if (ap.simple_mode == 0) {
         return;
     }
 
-    // mark radio frame as consumed
-    ap.new_radio_frame = false;
-
     if (ap.simple_mode == 1) {
         // rotate roll, pitch input by -initial simple heading (i.e. north facing)
         rollx = channel_roll->get_control_in()*simple_cos_yaw - channel_pitch->get_control_in()*simple_sin_yaw;

ArduSub/GCS_Mavlink.cpp

@@ -130,9 +130,6 @@ NOINLINE void Sub::send_extended_status1(mavlink_channel_t chan)
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
     }
 #endif
-    if (ap.rc_receiver_present) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
-    }
 
     // all present sensors enabled by default except altitude and position control and motors which we will set individually
     control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL &
@@ -181,9 +178,7 @@ NOINLINE void Sub::send_extended_status1(mavlink_channel_t chan)
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
     }
 #endif
-    if (ap.rc_receiver_present) {
+
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
-    }
     if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
         control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
     }

ArduSub/Sub.cpp

@@ -50,7 +50,6 @@ Sub::Sub(void) :
           target_rangefinder_alt(0.0f),
           baro_alt(0),
           baro_climbrate(0.0f),
-          rc_throttle_control_in_filter(1.0f),
           auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP),
           yaw_look_at_WP_bearing(0.0f),
           yaw_look_at_heading(0),

ArduSub/Sub.h

@@ -237,9 +237,7 @@ private:
             uint8_t pre_arm_check       : 1; // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
             uint8_t auto_armed          : 1; // stops auto missions from beginning until throttle is raised
             uint8_t logging_started     : 1; // true if dataflash logging has started
-            uint8_t new_radio_frame     : 1; // Set true if we have new PWM data to act on from the Radio
             uint8_t usb_connected       : 1; // true if APM is powered from USB connection
-            uint8_t rc_receiver_present : 1; // true if we have an rc receiver present (i.e. if we've ever received an update
             uint8_t compass_mot         : 1; // true if we are currently performing compassmot calibration
             uint8_t motor_test          : 1; // true if we are currently performing the motors test
             uint8_t initialised         : 1; // true once the init_ardupilot function has completed.  Extended status to GCS is not sent until this completes
@@ -360,9 +358,6 @@ private:
     int32_t quarter_turn_count;
     uint8_t last_turn_state;
 
-    // filtered pilot's throttle input used to cancel landing if throttle held high
-    LowPassFilterFloat rc_throttle_control_in_filter;
-
     // 3D Location vectors
     // Current location of the Sub (altitude is relative to home)
     Location_Class current_loc;
@@ -484,7 +479,7 @@ private:
     void perf_update(void);
     void fast_loop();
     void rc_loop();
-    void throttle_loop();
+    void fifty_hz_loop();
     void update_mount();
     void update_trigger();
     void update_batt_compass(void);
@@ -715,7 +710,6 @@ private:
     void init_rc_in();
     void init_rc_out();
     void enable_motor_output();
-    void read_radio();
     void init_joystick();
     void transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons);
     void handle_jsbutton_press(uint8_t button,bool shift=false,bool held=false);
@@ -723,7 +717,6 @@ private:
     JSButton* get_button(uint8_t index);
     void default_js_buttons(void);
     void set_throttle_zero_flag(int16_t throttle_control);
-    void radio_passthrough_to_motors();
     void init_barometer(bool save);
     void read_barometer(void);
     void init_rangefinder(void);

ArduSub/esc_calibration.cpp

@@ -91,10 +91,6 @@ void Sub::esc_calibration_passthrough()
         // flash LEDS
         AP_Notify::flags.esc_calibration = true;
 
-        // read pilot input
-        read_radio();
-        hal.scheduler->delay(10);
-
         // pass through to motors
         motors.set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
     }

ArduSub/radio.cpp

@@ -67,11 +67,6 @@ void Sub::init_rc_out()
     motors.init((AP_Motors::motor_frame_class)g.frame_configuration.get(), (AP_Motors::motor_frame_type)0);
     motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
 
-    for (uint8_t i = 0; i < 5; i++) {
-        hal.scheduler->delay(20);
-        read_radio();
-    }
-
     // check if we should enter esc calibration mode
     esc_calibration_startup_check();
 
@@ -92,34 +87,6 @@ void Sub::enable_motor_output()
     motors.output_min();
 }
 
-void Sub::read_radio()
-{
-    static uint32_t last_update_ms = 0;
-    uint32_t tnow_ms = millis();
-
-    if (hal.rcin->new_input()) {
-        ap.new_radio_frame = true;
-        RC_Channels::set_pwm_all();
-
-        set_throttle_zero_flag(channel_throttle->get_control_in());
-
-        // flag we must have an rc receiver attached
-        if (!failsafe.rc_override_active) {
-            ap.rc_receiver_present = true;
-        }
-
-        // update output on any aux channels, for manual passthru
-        SRV_Channels::output_ch_all();
-
-        // pass pilot input through to motors (used to allow wiggling servos while disarmed on heli, single, coax copters)
-        radio_passthrough_to_motors();
-
-        float dt = (tnow_ms - last_update_ms)*1.0e-3f;
-        rc_throttle_control_in_filter.apply(channel_throttle->get_control_in(), dt);
-        last_update_ms = tnow_ms;
-    }
-}
-
 #define THROTTLE_ZERO_DEBOUNCE_TIME_MS 400
 // set_throttle_zero_flag - set throttle_zero flag from debounced throttle control
 // throttle_zero is used to determine if the pilot intends to shut down the motors
@@ -141,8 +108,3 @@ void Sub::set_throttle_zero_flag(int16_t throttle_control)
     }
 }
 
-// pass pilot's inputs to motors library (used to allow wiggling servos while disarmed on heli, single, coax copters)
-void Sub::radio_passthrough_to_motors()
-{
-    motors.set_radio_passthrough(channel_roll->get_control_in()/1000.0f, channel_pitch->get_control_in()/1000.0f, channel_throttle->get_control_in()/1000.0f, channel_yaw->get_control_in()/1000.0f);
-}