APM: removed the unused sonar code

when we start supporting a sonar we'll add a AP_Sonar library, like
AP_Airspeed

ArduPlane/ArduPlane.pde

@@ -264,7 +264,6 @@ GCS_MAVLINK gcs3;
 // PITOT selection
 ////////////////////////////////////////////////////////////////////////////////
 //
-ModeFilterInt16_Size5 sonar_mode_filter(2);
 
 #if CONFIG_PITOT_SOURCE == PITOT_SOURCE_ADC
 AP_AnalogSource_ADC pitot_analog_source( &adc,
@@ -273,14 +272,6 @@ AP_AnalogSource_ADC pitot_analog_source( &adc,
 AP_AnalogSource_Arduino pitot_analog_source(CONFIG_PITOT_SOURCE_ANALOG_PIN, 4.0);
 #endif
 
-#if SONAR_TYPE == MAX_SONAR_XL
-AP_RangeFinder_MaxsonarXL sonar(&pitot_analog_source, &sonar_mode_filter);
-#elif SONAR_TYPE == MAX_SONAR_LV
-// XXX honestly I think these output the same values
-// If someone knows, can they confirm it?
-AP_RangeFinder_MaxsonarXL sonar(&pitot_analog_source, &sonar_mode_filter);
-#endif
-
 #if RECEIVER_RSSI_PIN != -1
 AP_AnalogSource_Arduino RSSI_pin(RECEIVER_RSSI_PIN, 0.25);
 #endif
@@ -483,9 +474,6 @@ AP_Airspeed airspeed(&pitot_analog_source);
 
 ////////////////////////////////////////////////////////////////////////////////
 // Altitude Sensor variables
-////////////////////////////////////////////////////////////////////////////////
-// Altitude from the sonar sensor.  Meters.  Not yet implemented.
-static int16_t sonar_alt;
 
 ////////////////////////////////////////////////////////////////////////////////
 // flight mode specific
@@ -886,7 +874,6 @@ static void medium_loop()
         // Read altitude from sensors
         // ------------------
         update_alt();
-        if(g.sonar_enabled) sonar_alt = sonar.read();
 
         // altitude smoothing
         // ------------------

ArduPlane/Log.pde

@@ -341,7 +341,7 @@ static void Log_Write_GPS(      int32_t log_Time, int32_t log_Lattitude, int32_t
     DataFlash.WriteByte(log_NumSats);
     DataFlash.WriteLong(log_Lattitude);
     DataFlash.WriteLong(log_Longitude);
-    DataFlash.WriteInt(sonar_alt);                              // This one is just temporary for testing out sonar in fixed wing
+    DataFlash.WriteInt(0); // was sonar_alt
     DataFlash.WriteLong(log_mix_alt);
     DataFlash.WriteLong(log_gps_alt);
     DataFlash.WriteLong(log_Ground_Speed);

ArduPlane/Parameters.h

@@ -334,7 +334,6 @@ public:
     AP_Float input_voltage;
     AP_Int32 pack_capacity;                     // Battery pack capacity less reserve
     AP_Int8 inverted_flight_ch;             // 0=disabled, 1-8 is channel for inverted flight trigger
-    AP_Int8 sonar_enabled;
     AP_Int8 stick_mixing;
     AP_Int8 rudder_steer;
 

ArduPlane/Parameters.pde

@@ -525,13 +525,6 @@ const AP_Param::Info var_info[] PROGMEM = {
     GSCALAR(pack_capacity,          "BATT_CAPACITY",  HIGH_DISCHARGE),
     GSCALAR(inverted_flight_ch,     "INVERTEDFLT_CH", 0),
 
-    // @Param: SONAR_ENABLE
-    // @DisplayName: Enable Sonar
-    // @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
-    // @Values: 0:Disabled,1:Enabled
-    // @User: Standard
-    GSCALAR(sonar_enabled,          "SONAR_ENABLE",   SONAR_ENABLED),
-
     // barometer ground calibration. The GND_ prefix is chosen for
     // compatibility with previous releases of ArduPlane
     GOBJECT(barometer, "GND_", AP_Baro),

ArduPlane/config.h

@@ -70,7 +70,6 @@
  # define CONFIG_IMU_TYPE   CONFIG_IMU_MPU6000
  # define CONFIG_RELAY      DISABLED
  # define MAG_ORIENTATION   AP_COMPASS_APM2_SHIELD
- # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
  # define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN
  # define MAGNETOMETER ENABLED
  # ifdef APM2_BETA_HARDWARE
@@ -152,14 +151,6 @@
  # define CONFIG_BARO AP_BARO_BMP085
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// Pitot
-//
-
-#ifndef PITOT_ENABLED
- # define PITOT_ENABLED          DISABLED
-#endif
-
 #ifndef CONFIG_PITOT_SOURCE
  # define CONFIG_PITOT_SOURCE PITOT_SOURCE_ADC
 #endif
@@ -173,17 +164,7 @@
   #  define CONFIG_PITOT_SOURCE_ANALOG_PIN 0
  # endif
 #else
- # warning Invalid value for CONFIG_PITOT_SOURCE, disabling airspeed
- # undef PITOT_ENABLED
- # define PITOT_ENABLED DISABLED
-#endif
-
-#ifndef SONAR_TYPE
- # define SONAR_TYPE             MAX_SONAR_LV   // MAX_SONAR_XL,
-#endif
-
-#ifndef SONAR_ENABLED
- #define SONAR_ENABLED DISABLED
+ # warning Invalid value for CONFIG_PITOT_SOURCE
 #endif
 
 //////////////////////////////////////////////////////////////////////////////

ArduPlane/defines.h

@@ -207,10 +207,6 @@ enum gcs_severity {
 #define RELAY_PIN 47
 
 
-// sonar
-#define MAX_SONAR_XL 0
-#define MAX_SONAR_LV 1
-#define SonarToCm(x) (x*1.26)   // Sonar raw value to centimeters
 #define AN4                     4
 #define AN5                     5