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Copter: remove adsb sensor library based avoidance

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adsb based avoidance has been moved to AP_Avoidance library
This commit is contained in:
Randy Mackay 2016-07-21 12:10:33 +09:00
parent d50987f976
commit 6118bf1b14
4 changed files with 1 additions and 65 deletions
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1
ArduCopter/ArduCopter.cpp
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@ -127,7 +127,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK(compass_cal_update, 100, 100),
SCHED_TASK(accel_cal_update, 10, 100),
#if ADSB_ENABLED == ENABLED
SCHED_TASK(adsb_update, 10, 100),
SCHED_TASK(avoidance_adsb_update, 10, 400),
#endif
#if FRSKY_TELEM_ENABLED == ENABLED

2
ArduCopter/Copter.h
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@ -784,8 +784,6 @@ 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);
void avoidance_adsb_update(void);
bool brake_init(bool ignore_checks);
void brake_run();

62
ArduCopter/adsb.cpp
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@ -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 "Copter.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 Copter::adsb_update(void)
{
adsb.update();
adsb_handle_vehicle_threats();
}
/*
* Handle ADS-B based threats which are platform dependent
*/
void Copter::adsb_handle_vehicle_threats(void)
{
// handle clearing of threat
if (adsb.get_is_evading_threat() && !adsb.get_possible_threat()) {
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_possible_threat()) {
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

1
ArduCopter/avoidance_adsb.cpp
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@ -3,6 +3,7 @@
void Copter::avoidance_adsb_update(void)
{
adsb.update();
avoidance_adsb.update();
}