AP_Proximity: Remove Morse backend

libraries/AP_Proximity/AP_Proximity.cpp

@@ -23,7 +23,6 @@
 #include "AP_Proximity_LightWareSF40C.h"
 #include "AP_Proximity_LightWareSF45B.h"
 #include "AP_Proximity_SITL.h"
-#include "AP_Proximity_MorseSITL.h"
 #include "AP_Proximity_AirSimSITL.h"
 
 extern const AP_HAL::HAL &hal;
@@ -35,7 +34,7 @@ const AP_Param::GroupInfo AP_Proximity::var_info[] = {
     // @Param: _TYPE
     // @DisplayName: Proximity type
     // @Description: What type of proximity sensor is connected
-    // @Values: 0:None,7:LightwareSF40c,1:LightWareSF40C-legacy,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,11:MorseSITL,12:AirSimSITL
+    // @Values: 0:None,7:LightwareSF40c,1:LightWareSF40C-legacy,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,12:AirSimSITL
     // @RebootRequired: True
     // @User: Standard
     AP_GROUPINFO("_TYPE",   1, AP_Proximity, _type[0], 0),
@@ -155,7 +154,7 @@ const AP_Param::GroupInfo AP_Proximity::var_info[] = {
     // @Param: 2_TYPE
     // @DisplayName: Second Proximity type
     // @Description: What type of proximity sensor is connected
-    // @Values: 0:None,7:LightwareSF40c,1:LightWareSF40C-legacy,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,11:MorseSITL,12:AirSimSITL
+    // @Values: 0:None,7:LightwareSF40c,1:LightWareSF40C-legacy,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,12:AirSimSITL
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO("2_TYPE", 16, AP_Proximity, _type[1], 0),
@@ -342,11 +341,6 @@ void AP_Proximity::detect_instance(uint8_t instance)
         drivers[instance] = new AP_Proximity_SITL(*this, state[instance]);
         return;
 
-    case Type::MorseSITL:
-        state[instance].instance = instance;
-        drivers[instance] = new AP_Proximity_MorseSITL(*this, state[instance]);
-        return;
-
     case Type::AirSimSITL:
         state[instance].instance = instance;
         drivers[instance] = new AP_Proximity_AirSimSITL(*this, state[instance]);

libraries/AP_Proximity/AP_Proximity.h

@@ -50,7 +50,6 @@ public:
         SF45B = 8,
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
         SITL    = 10,
-        MorseSITL = 11,
         AirSimSITL = 12,
 #endif
     };

libraries/AP_Proximity/AP_Proximity_MorseSITL.cpp

@@ -1,90 +0,0 @@
-/*
-   This program 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 program 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 <AP_HAL/AP_HAL.h>
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-#include "AP_Proximity_MorseSITL.h"
-#include <stdio.h>
-
-extern const AP_HAL::HAL& hal;
-
-#define PROXIMITY_MAX_RANGE 200.0f
-#define PROXIMITY_ACCURACY 0.1f
-
-// update the state of the sensor
-void AP_Proximity_MorseSITL::update(void)
-{
-    SITL::vector3f_array &points = sitl->state.scanner.points;
-    SITL::float_array &ranges = sitl->state.scanner.ranges;
-    if (points.length != ranges.length ||
-        points.length == 0) {
-        set_status(AP_Proximity::Status::NoData);
-        return;
-    }
-
-    set_status(AP_Proximity::Status::Good);
-
-    memset(_distance_valid, 0, sizeof(_distance_valid));
-    memset(_angle, 0, sizeof(_angle));
-    memset(_distance, 0, sizeof(_distance));
-
-    for (uint16_t i=0; i<points.length; i++) {
-        Vector3f &point = points.data[i];
-        float &range = ranges.data[i];
-        distance_maximum = MAX(distance_maximum, range);
-        if (point.is_zero()) {
-            continue;
-        }
-        float angle_deg = wrap_360(degrees(atan2f(-point.y, point.x)));
-        uint16_t angle_rounded = uint16_t(angle_deg+0.5);
-        const uint8_t sector = convert_angle_to_sector(angle_rounded);
-        if (!_distance_valid[sector] || range < _distance[sector]) {
-            _distance_valid[sector] = true;
-            _distance[sector] = range;
-            _angle[sector] = angle_deg;
-            update_boundary_for_sector(sector, true);
-        }
-    }
-
-#if 0
-    printf("npoints=%u\n", points.length);
-    for (uint16_t i=0; i<PROXIMITY_NUM_SECTORS; i++) {
-        printf("sector[%u] ang=%.1f dist=%.1f\n", i, _angle[i], _distance[i]);
-    }
-#endif
-}
-
-// get maximum and minimum distances (in meters) of primary sensor
-float AP_Proximity_MorseSITL::distance_max() const
-{
-    // we don't have a data field from Morse for max range, so we use the max
-    // we've ever seen
-    return distance_maximum;
-}
-
-float AP_Proximity_MorseSITL::distance_min() const
-{
-    return 0.0f;
-}
-
-// get distance upwards in meters. returns true on success
-bool AP_Proximity_MorseSITL::get_upward_distance(float &distance) const
-{
-    // we don't have an upward facing laser
-    return false;
-}
-
-#endif // CONFIG_HAL_BOARD

libraries/AP_Proximity/AP_Proximity_MorseSITL.h

@@ -1,30 +0,0 @@
-#pragma once
-
-#include "AP_Proximity.h"
-#include "AP_Proximity_Backend.h"
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-#include <SITL/SITL.h>
-
-class AP_Proximity_MorseSITL : public AP_Proximity_Backend
-{
-
-public:
-    // constructor
-    using AP_Proximity_Backend::AP_Proximity_Backend;
-
-    // update state
-    void update(void) override;
-
-    // get maximum and minimum distances (in meters) of sensor
-    float distance_max() const override;
-    float distance_min() const override;
-
-    // get distance upwards in meters. returns true on success
-    bool get_upward_distance(float &distance) const override;
-
-private:
-    SITL::SITL *sitl = AP::sitl();
-    float distance_maximum;
-};
-#endif // CONFIG_HAL_BOARD