Rover: remove do_takeoff, do_change_alt support

APMrover2/APMrover2.pde

@@ -502,8 +502,6 @@ static int32_t 	condition_value;
 // A starting value used to check the status of a conditional command.
 // For example in a delay command the condition_start records that start time for the delay
 static int32_t 	condition_start;
-// A value used in condition commands.  For example the rate at which to change altitude.
-static int16_t 		condition_rate;
 
 ////////////////////////////////////////////////////////////////////////////////
 // 3D Location vectors

APMrover2/GCS_Mavlink.pde

@@ -1293,11 +1293,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
  	        // set auto continue to 1
  	        ret_packet.autocontinue = 1;     // 1 (true), 0 (false)
 
- 	        // rover specific overrides to packet values
- 	        if (cmd.id == MAV_CMD_CONDITION_CHANGE_ALT) {
-                ret_packet.param1 = cmd.content.location.lat;  // Copter and Plane set param1 = cmd.p1/100
-			}
-
 			mavlink_msg_mission_item_send(chan,msg->sysid,
                                           msg->compid,
                                           packet.seq,
@@ -1505,11 +1500,6 @@ mission_item_send_failed:
                 goto mission_failed;
             }
 
-            // rover specific overrides to mavlink to mission command conversion
-            if (cmd.id == MAV_CMD_CONDITION_CHANGE_ALT) {
-                cmd.content.location.lat = packet.param1;
-            }
-
 			if(packet.current == 2){ 				//current = 2 is a flag to tell us this is a "guided mode" waypoint and not for the mission
 				guided_WP = cmd.content.location;
 

APMrover2/commands_logic.pde

@@ -1,11 +1,9 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
 // forward declarations to make compiler happy
-static void do_takeoff(const AP_Mission::Mission_Command& cmd);
 static void do_nav_wp(const AP_Mission::Mission_Command& cmd);
 static void do_wait_delay(const AP_Mission::Mission_Command& cmd);
 static void do_within_distance(const AP_Mission::Mission_Command& cmd);
-static void do_change_alt(const AP_Mission::Mission_Command& cmd);
 static void do_change_speed(const AP_Mission::Mission_Command& cmd);
 static void do_set_home(const AP_Mission::Mission_Command& cmd);
 static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
@@ -24,10 +22,6 @@ start_command(const AP_Mission::Mission_Command& cmd)
     gcs_send_text_fmt(PSTR("Executing command ID #%i"),cmd.id);
 
 	switch(cmd.id){
-		case MAV_CMD_NAV_TAKEOFF:
-			do_takeoff(cmd);
-			break;
-
 		case MAV_CMD_NAV_WAYPOINT:	// Navigate to Waypoint
 			do_nav_wp(cmd);
 			break;
@@ -45,10 +39,6 @@ start_command(const AP_Mission::Mission_Command& cmd)
 			do_within_distance(cmd);
 			break;
 
-		case MAV_CMD_CONDITION_CHANGE_ALT:
-			do_change_alt(cmd);
-			break;
-
         // Do commands
 		case MAV_CMD_DO_CHANGE_SPEED:
 			do_change_speed(cmd);
@@ -148,9 +138,6 @@ static bool verify_command(const AP_Mission::Mission_Command& cmd)
 
 	switch(cmd.id) {
 
-		case MAV_CMD_NAV_TAKEOFF:
-			return verify_takeoff();
-
 		case MAV_CMD_NAV_WAYPOINT:
 			return verify_nav_wp(cmd);
 
@@ -165,10 +152,6 @@ static bool verify_command(const AP_Mission::Mission_Command& cmd)
             return verify_within_distance();
             break;
 
-        case MAV_CMD_CONDITION_CHANGE_ALT:
-            return verify_change_alt();
-            break;
-
         default:
             gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_conditon: Unsupported command"));
             return true;
@@ -188,11 +171,6 @@ static void do_RTL(void)
 	next_WP = home;
 }
 
-static void do_takeoff(const AP_Mission::Mission_Command& cmd)
-{
-	set_next_WP(cmd.content.location);
-}
-
 static void do_nav_wp(const AP_Mission::Mission_Command& cmd)
 {
 	set_next_WP(cmd.content.location);
@@ -201,10 +179,6 @@ static void do_nav_wp(const AP_Mission::Mission_Command& cmd)
 /********************************************************************************/
 //  Verify Nav (Must) commands
 /********************************************************************************/
-static bool verify_takeoff()
-{  return true;
-}
-
 static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd)
 {
     if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) {
@@ -253,14 +227,6 @@ static void do_wait_delay(const AP_Mission::Mission_Command& cmd)
 	condition_value  = cmd.content.delay.seconds * 1000;    // convert seconds to milliseconds
 }
 
-static void do_change_alt(const AP_Mission::Mission_Command& cmd)
-{
-	condition_rate		= abs((int)cmd.content.location.lat);
-	condition_value 	= cmd.content.location.alt;
-	if(condition_value < current_loc.alt) condition_rate = -condition_rate;
-	next_WP.alt = condition_value;								// For future nav calculations
-}
-
 static void do_within_distance(const AP_Mission::Mission_Command& cmd)
 {
 	condition_value  = cmd.content.distance.meters;
@@ -279,15 +245,6 @@ static bool verify_wait_delay()
 	return false;
 }
 
-static bool verify_change_alt()
-{
-	if( (condition_rate>=0 && current_loc.alt >= condition_value) || (condition_rate<=0 && current_loc.alt <= condition_value)) {
-		condition_value = 0;
-		return true;
-	}
-	return false;
-}
-
 static bool verify_within_distance()
 {
 	if (wp_distance < condition_value){