From e1314cc2974c6753f13a73c3143e45b69f15a90a Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 4 Feb 2022 11:36:28 +1100 Subject: [PATCH] Plane: remove ancient convert_mixers --- ArduPlane/Parameters.cpp | 113 --------------------------------------- ArduPlane/Plane.h | 1 - 2 files changed, 114 deletions(-) diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp index bd3d6cf556..1b0c513940 100644 --- a/ArduPlane/Parameters.cpp +++ b/ArduPlane/Parameters.cpp @@ -1358,9 +1358,6 @@ void Plane::load_parameters(void) SRV_Channels::upgrade_parameters(); - // possibly convert elevon and vtail mixers - convert_mixers(); - #if HAL_QUADPLANE_ENABLED if (quadplane.enable) { // quadplanes needs a higher loop rate @@ -1499,113 +1496,3 @@ void Plane::load_parameters(void) hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before)); } - -/* - convert from old ELEVON_OUTPUT and VTAIL_OUTPUT mixers to function - based mixing - */ -void Plane::convert_mixers(void) -{ - AP_Int8 elevon_output; - AP_Int8 vtail_output; - AP_Param::ConversionInfo elevon_info = { - Parameters::k_param_elevon_output, - 0, - AP_PARAM_INT8, - nullptr - }; - AP_Param::ConversionInfo vtail_info = { - Parameters::k_param_vtail_output, - 0, - AP_PARAM_INT8, - nullptr - }; - SRV_Channel *chan1 = SRV_Channels::srv_channel(CH_1); - SRV_Channel *chan2 = SRV_Channels::srv_channel(CH_2); - SRV_Channel *chan4 = SRV_Channels::srv_channel(CH_4); - - if (AP_Param::find_old_parameter(&vtail_info, &vtail_output) && - vtail_output.get() != 0 && - chan2->get_function() == SRV_Channel::k_elevator && - chan4->get_function() == SRV_Channel::k_rudder && - !chan2->function_configured() && - !chan4->function_configured()) { - hal.console->printf("Converting vtail_output %u\n", vtail_output.get()); - switch (vtail_output) { - case MIXING_UPUP: - case MIXING_UPUP_SWP: - chan2->reversed_set_and_save_ifchanged(false); - chan4->reversed_set_and_save_ifchanged(false); - break; - case MIXING_UPDN: - case MIXING_UPDN_SWP: - chan2->reversed_set_and_save_ifchanged(false); - chan4->reversed_set_and_save_ifchanged(true); - break; - case MIXING_DNUP: - case MIXING_DNUP_SWP: - chan2->reversed_set_and_save_ifchanged(true); - chan4->reversed_set_and_save_ifchanged(false); - break; - case MIXING_DNDN: - case MIXING_DNDN_SWP: - chan2->reversed_set_and_save_ifchanged(true); - chan4->reversed_set_and_save_ifchanged(true); - break; - } - if (vtail_output < MIXING_UPUP_SWP) { - chan2->function_set_and_save(SRV_Channel::k_vtail_right); - chan4->function_set_and_save(SRV_Channel::k_vtail_left); - } else { - chan2->function_set_and_save(SRV_Channel::k_vtail_left); - chan4->function_set_and_save(SRV_Channel::k_vtail_right); - } - } else if (AP_Param::find_old_parameter(&elevon_info, &elevon_output) && - elevon_output.get() != 0 && - chan1->get_function() == SRV_Channel::k_aileron && - chan2->get_function() == SRV_Channel::k_elevator && - !chan1->function_configured() && - !chan2->function_configured()) { - hal.console->printf("convert elevon_output %u\n", elevon_output.get()); - switch (elevon_output) { - case MIXING_UPUP: - case MIXING_UPUP_SWP: - chan2->reversed_set_and_save_ifchanged(false); - chan1->reversed_set_and_save_ifchanged(false); - break; - case MIXING_UPDN: - case MIXING_UPDN_SWP: - chan2->reversed_set_and_save_ifchanged(false); - chan1->reversed_set_and_save_ifchanged(true); - break; - case MIXING_DNUP: - case MIXING_DNUP_SWP: - chan2->reversed_set_and_save_ifchanged(true); - chan1->reversed_set_and_save_ifchanged(false); - break; - case MIXING_DNDN: - case MIXING_DNDN_SWP: - chan2->reversed_set_and_save_ifchanged(true); - chan1->reversed_set_and_save_ifchanged(true); - break; - } - if (elevon_output < MIXING_UPUP_SWP) { - chan1->function_set_and_save(SRV_Channel::k_elevon_right); - chan2->function_set_and_save(SRV_Channel::k_elevon_left); - } else { - chan1->function_set_and_save(SRV_Channel::k_elevon_left); - chan2->function_set_and_save(SRV_Channel::k_elevon_right); - } - } - - // convert any k_aileron_with_input to aileron and k_elevator_with_input to k_elevator - for (uint8_t i=0; iget_function() == SRV_Channel::k_aileron_with_input) { - chan->function_set_and_save(SRV_Channel::k_aileron); - } else if (chan->get_function() == SRV_Channel::k_elevator_with_input) { - chan->function_set_and_save(SRV_Channel::k_elevator); - } - } - -} diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h index d8f87eb29d..cdf85eb5a9 100644 --- a/ArduPlane/Plane.h +++ b/ArduPlane/Plane.h @@ -892,7 +892,6 @@ private: // Parameters.cpp void load_parameters(void) override; - void convert_mixers(void); // commands_logic.cpp void set_next_WP(const struct Location &loc);