Sub: Remove ADSB support

ArduSub/APM_Config.h

@@ -36,7 +36,6 @@
 //#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
 //#define OPTFLOW               DISABLED            // disable optical flow sensor to save 5K of flash space
 //#define FRSKY_TELEM_ENABLED   DISABLED            // disable FRSky telemetry
-#define ADSB_ENABLED          DISABLED            // disable ADSB support
 
 // features below are disabled by default on all boards
 //#define SPRAYER               ENABLED             // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)

ArduSub/ArduSub.cpp

@@ -137,9 +137,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK(rpm_update,            10,    200),
     SCHED_TASK(compass_cal_update,   100,    100),
     SCHED_TASK(accel_cal_update,      10,    100),
-#if ADSB_ENABLED == ENABLED
-    SCHED_TASK(adsb_update,            1,    100),
-#endif
 #if FRSKY_TELEM_ENABLED == ENABLED
     SCHED_TASK(frsky_telemetry_send,   5,     75),
 #endif

ArduSub/GCS_Mavlink.cpp

@@ -1987,9 +1987,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
     }
 
     case MAVLINK_MSG_ID_ADSB_VEHICLE:
-#if ADSB_ENABLED == ENABLED
-        sub.adsb.update_vehicle(msg);
-#endif
         break;
 
     }     // end switch

ArduSub/Parameters.cpp

@@ -1098,7 +1098,7 @@ const AP_Param::Info Sub::var_info[] = {
 
     // @Group: ADSB_
     // @Path: ../libraries/AP_ADSB/AP_ADSB.cpp
-    GOBJECT(adsb,                "ADSB_", AP_ADSB),
+    // GOBJECT(adsb,                "ADSB_", AP_ADSB),
 
     // @Param: AUTOTUNE_AXES
     // @DisplayName: Autotune axis bitmask

ArduSub/Sub.h

@@ -90,7 +90,6 @@
 #include <AP_Frsky_Telem/AP_Frsky_Telem.h>
 #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>
 #include <AC_InputManager/AC_InputManager.h>        // Pilot input handling library
 #include <AC_InputManager/AC_InputManager_Heli.h>   // Heli specific pilot input handling library
@@ -518,8 +517,6 @@ private:
     AC_InputManager_Heli input_manager;
 #endif
 
-    AP_ADSB adsb {ahrs};
-
     // use this to prevent recursion during sensor init
     bool in_mavlink_delay;
 
@@ -746,8 +743,6 @@ private:
     void autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float target, float measurement_max);
     void autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max);
     void autotune_twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max);
-    void adsb_update(void);
-    void adsb_handle_vehicle_threats(void);
     bool brake_init(bool ignore_checks);
     void brake_run();
     bool circle_init(bool ignore_checks);

ArduSub/adsb.cpp

@@ -1,62 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-/*
- * adsb.cpp
- * Copyright (C) Tom Pittenger 2015
- *
- * This file is free software: you can redistribute it and/or modify it
- * under the terms of the GNU General Public License as published by the
- * Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This file is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include "Sub.h"
-
-#if ADSB_ENABLED == ENABLED
-
-/*
- *  this module deals with ADS-B handling for ArduPilot
- *  ADS-B is an RF based collision avoidance protocol to tell nearby aircraft your location
- *  https://en.wikipedia.org/wiki/Automatic_dependent_surveillance_%E2%80%93_broadcast
- *
- */
-
-/*
-  handle periodic adsb database maintenance and handle threats
- */
-void Sub::adsb_update(void)
-{
-    adsb.update();
-    adsb_handle_vehicle_threats();
-}
-
-/*
- * Handle ADS-B based threats which are platform dependent
- */
-void Sub::adsb_handle_vehicle_threats(void)
-{
-    // handle clearing of threat
-    if (adsb.get_is_evading_threat() && !adsb.get_another_vehicle_within_radius()) {
-        adsb.set_is_evading_threat(false);
-        Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, ERROR_CODE_FAILSAFE_RESOLVED);
-        gcs_send_text(MAV_SEVERITY_CRITICAL, "ADS-B threat cleared");
-        return;
-    }
-
-    // handle new threat
-    if (!adsb.get_is_evading_threat() && adsb.get_another_vehicle_within_radius()) {
-        adsb.set_is_evading_threat(true);
-        Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, ERROR_CODE_FAILSAFE_OCCURRED);
-        gcs_send_text(MAV_SEVERITY_CRITICAL, "ADS-B threat!");
-        return;
-    }
-}
-
-#endif // #ADSB_ENABLED

ArduSub/config.h

@@ -326,12 +326,6 @@
  # define PARACHUTE ENABLED
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// ADSB support
-#ifndef ADSB_ENABLED
-# define ADSB_ENABLED ENABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // Nav-Guided - allows external nav computer to control vehicle
 #ifndef NAV_GUIDED

ArduSub/make.inc

@@ -58,4 +58,3 @@ LIBRARIES += AP_RPM
 LIBRARIES += AC_PrecLand
 LIBRARIES += AP_IRLock
 LIBRARIES += AC_InputManager
-LIBRARIES += AP_ADSB

ArduSub/wscript

@@ -7,7 +7,6 @@ def build(bld):
         name=vehicle + '_libs',
         vehicle=vehicle,
         libraries=bld.ap_common_vehicle_libraries() + [
-            'AP_ADSB',
             'AC_AttitudeControl',
             'AC_Fence',
             'AC_PID',