Copter: make EPM a subclass of AP_Gripper_Backend

ArduCopter/APM_Config.h

@@ -28,7 +28,6 @@
 //#define AC_RALLY              DISABLED            // disable rally points library (must also disable terrain which relies on rally)
 //#define AC_TERRAIN            DISABLED            // disable terrain library
 //#define PARACHUTE             DISABLED            // disable parachute release to save 1k of flash
-//#define EPM_ENABLED           DISABLED            // disable epm cargo gripper to save 500bytes of flash
 //#define CLI_ENABLED           DISABLED            // disable the CLI (command-line-interface) to save 21K of flash space
 //#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

ArduCopter/ArduCopter.cpp

@@ -132,9 +132,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(afs_fs_check,          10,    100),
 #endif
     SCHED_TASK(terrain_update,        10,    100),
-#if EPM_ENABLED == ENABLED
-    SCHED_TASK(epm_update,            10,     75),
-#endif
 #if GRIPPER_ENABLED == ENABLED
     SCHED_TASK(gripper_update,        10,     75),
 #endif

ArduCopter/Copter.h

@@ -101,9 +101,6 @@
 #if SPRAYER == ENABLED
 #include <AC_Sprayer/AC_Sprayer.h>         // crop sprayer library
 #endif
-#if EPM_ENABLED == ENABLED
-#include <AP_EPM/AP_EPM.h>             // EPM cargo gripper stuff
-#endif
 #if GRIPPER_ENABLED == ENABLED
 #include <AP_Gripper/AP_Gripper.h>             // gripper stuff
 #endif
@@ -568,11 +565,6 @@ private:
     AC_Sprayer sprayer;
 #endif
 
-    // EPM Cargo Griper
-#if EPM_ENABLED == ENABLED
-    AP_EPM epm;
-#endif
-
     // Parachute release
 #if PARACHUTE == ENABLED
     AP_Parachute parachute;
@@ -1122,7 +1114,7 @@ private:
 #if PARACHUTE == ENABLED
     void do_parachute(const AP_Mission::Mission_Command& cmd);
 #endif
-#if EPM_ENABLED == ENABLED
+#if GRIPPER_ENABLED == ENABLED
     void do_gripper(const AP_Mission::Mission_Command& cmd);
 #endif
     bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);

ArduCopter/GCS_Mavlink.cpp

@@ -1377,20 +1377,20 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
             result = copter.mavlink_motor_test_start(chan, (uint8_t)packet.param1, (uint8_t)packet.param2, (uint16_t)packet.param3, packet.param4);
             break;
 
-#if EPM_ENABLED == ENABLED
+#if GRIPPER_ENABLED == ENABLED
         case MAV_CMD_DO_GRIPPER:
             // param1 : gripper number (ignored)
             // param2 : action (0=release, 1=grab). See GRIPPER_ACTIONS enum.
-            if(!copter.epm.enabled()) {
+            if(!copter.g2.gripper.enabled()) {
                 result = MAV_RESULT_FAILED;
             } else {
                 result = MAV_RESULT_ACCEPTED;
                 switch ((uint8_t)packet.param2) {
                     case GRIPPER_ACTION_RELEASE:
-                        copter.epm.release();
+                        copter.g2.gripper.release();
                         break;
                     case GRIPPER_ACTION_GRAB:
-                        copter.epm.grab();
+                        copter.g2.gripper.grab();
                         break;
                     default:
                         result = MAV_RESULT_FAILED;

ArduCopter/Parameters.cpp

@@ -707,12 +707,6 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: ../libraries/AP_Relay/AP_Relay.cpp
     GOBJECT(relay,                  "RELAY_", AP_Relay),
 
-#if EPM_ENABLED == ENABLED
-	// @Group: EPM_
-    // @Path: ../libraries/AP_EPM/AP_EPM.cpp
-    GOBJECT(epm,            "EPM_", AP_EPM),
-#endif
-
 #if PARACHUTE == ENABLED
 	// @Group: CHUTE_
     // @Path: ../libraries/AP_Parachute/AP_Parachute.cpp

ArduCopter/Parameters.h

@@ -67,8 +67,8 @@ public:
         // relay object
         k_param_relay,
 
-        // EPM object
-        k_param_epm,
+        // (old) EPM object
+        k_param_epm_unused,
 
         // BoardConfig object
         k_param_BoardConfig,

ArduCopter/commands_logic.cpp

@@ -132,8 +132,8 @@ bool Copter::start_command(const AP_Mission::Mission_Command& cmd)
         break;
 #endif
 
-#if EPM_ENABLED == ENABLED
-    case MAV_CMD_DO_GRIPPER:                            // Mission command to control EPM gripper
+#if GRIPPER_ENABLED == ENABLED
+    case MAV_CMD_DO_GRIPPER:                            // Mission command to control gripper
         do_gripper(cmd);
         break;
 #endif
@@ -571,19 +571,19 @@ void Copter::do_parachute(const AP_Mission::Mission_Command& cmd)
 }
 #endif
 
-#if EPM_ENABLED == ENABLED
-// do_gripper - control EPM gripper
+#if GRIPPER_ENABLED == ENABLED
+// do_gripper - control gripper
 void Copter::do_gripper(const AP_Mission::Mission_Command& cmd)
 {
     // Note: we ignore the gripper num parameter because we only support one gripper
     switch (cmd.content.gripper.action) {
         case GRIPPER_ACTION_RELEASE:
-            epm.release();
-            Log_Write_Event(DATA_EPM_RELEASE);
+            g2.gripper.release();
+            Log_Write_Event(DATA_GRIPPER_RELEASE);
             break;
         case GRIPPER_ACTION_GRAB:
-            epm.grab();
-            Log_Write_Event(DATA_EPM_GRAB);
+            g2.gripper.grab();
+            Log_Write_Event(DATA_GRIPPER_GRAB);
             break;
         default:
             // do nothing

ArduCopter/config.h

@@ -295,12 +295,6 @@
  # define PRECISION_LANDING ENABLED
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-//	EPM cargo gripper
-#ifndef EPM_ENABLED
- # define EPM_ENABLED ENABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 //	gripper
 #ifndef GRIPPER_ENABLED

ArduCopter/defines.h

@@ -49,7 +49,7 @@ enum aux_sw_func {
     AUXSW_AUTO =                16, // change to auto flight mode
     AUXSW_AUTOTUNE =            17, // auto tune
     AUXSW_LAND =                18, // change to LAND flight mode
-    AUXSW_EPM =                 19, // Operate the EPM cargo gripper low=off, middle=neutral, high=on
+    AUXSW_GRIPPER =             19, // Operate cargo grippers low=off, middle=neutral, high=on
     AUXSW_PARACHUTE_ENABLE  =   21, // Parachute enable/disable
     AUXSW_PARACHUTE_RELEASE =   22, // Parachute release
     AUXSW_PARACHUTE_3POS =      23, // Parachute disable, enable, release with 3 position switch
@@ -361,8 +361,8 @@ enum DevOptions {
 #define DATA_ACRO_TRAINER_DISABLED          43
 #define DATA_ACRO_TRAINER_LEVELING          44
 #define DATA_ACRO_TRAINER_LIMITED           45
-#define DATA_EPM_GRAB                       46
-#define DATA_EPM_RELEASE                    47
+#define DATA_GRIPPER_GRAB                   46
+#define DATA_GRIPPER_RELEASE                47
 #define DATA_PARACHUTE_DISABLED             49
 #define DATA_PARACHUTE_ENABLED              50
 #define DATA_PARACHUTE_RELEASED             51

ArduCopter/make.inc

@@ -51,7 +51,6 @@ LIBRARIES += AP_BattMonitor
 LIBRARIES += AP_BoardConfig
 LIBRARIES += AP_Frsky_Telem
 LIBRARIES += AC_Sprayer
-LIBRARIES += AP_EPM
 LIBRARIES += AP_Parachute
 LIBRARIES += AP_LandingGear
 LIBRARIES += AP_Terrain

ArduCopter/sensors.cpp

@@ -233,14 +233,6 @@ void Copter::accel_cal_update()
 #endif
 }
 
-#if EPM_ENABLED == ENABLED
-// epm update - moves epm pwm output back to neutral after grab or release is completed
-void Copter::epm_update()
-{
-    epm.update();
-}
-#endif
-
 #if GRIPPER_ENABLED == ENABLED
 // gripper update
 void Copter::gripper_update()

ArduCopter/switches.cpp

@@ -221,7 +221,7 @@ void Copter::init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
         case AUXSW_FENCE:
         case AUXSW_SUPERSIMPLE_MODE:
         case AUXSW_ACRO_TRAINER:
-        case AUXSW_EPM:
+        case AUXSW_GRIPPER:
         case AUXSW_SPRAYER:
         case AUXSW_PARACHUTE_ENABLE:
         case AUXSW_PARACHUTE_3POS:      // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
@@ -379,18 +379,16 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
                     break;
             }
             break;
-#if EPM_ENABLED == ENABLED
-        case AUXSW_EPM:
+#if GRIPPER_ENABLED == ENABLED
+        case AUXSW_GRIPPER:
             switch(ch_flag) {
                 case AUX_SWITCH_LOW:
                     g2.gripper.release();
-                    epm.release();
-                    Log_Write_Event(DATA_EPM_RELEASE);
+                    Log_Write_Event(DATA_GRIPPER_RELEASE);
                     break;
                 case AUX_SWITCH_HIGH:
                     g2.gripper.grab();
-                    epm.grab();
-                    Log_Write_Event(DATA_EPM_GRAB);
+                    Log_Write_Event(DATA_GRIPPER_GRAB);
                     break;
             }
             break;

ArduCopter/system.cpp

@@ -128,11 +128,6 @@ void Copter::init_ardupilot()
     
     BoardConfig.init();
 
-    // init EPM cargo gripper
-#if EPM_ENABLED == ENABLED
-    epm.init();
-#endif
-
     // init cargo gripper
 #if GRIPPER_ENABLED == ENABLED
     g2.gripper.init();

ArduCopter/wscript

@@ -17,7 +17,6 @@ def build(bld):
             'AC_Sprayer',
             'AC_WPNav',
             'AP_Camera',
-            'AP_EPM',
             'AP_Frsky_Telem',
             'AP_IRLock',
             'AP_InertialNav',