Rover: remove learning mode

saving waypoints can be done in manual or steering mode

APMrover2/GCS_Mavlink.cpp

@@ -815,7 +815,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
 
             case MAV_MODE_STABILIZE_DISARMED:
             case MAV_MODE_STABILIZE_ARMED:
-                rover.set_mode(rover.mode_learning, MODE_REASON_GCS_COMMAND);
+                rover.set_mode(rover.mode_steering, MODE_REASON_GCS_COMMAND);
                 result = MAV_RESULT_ACCEPTED;
                 break;
 

APMrover2/Parameters.cpp

@@ -241,45 +241,45 @@ const AP_Param::Info Rover::var_info[] = {
 
     // @Param: MODE1
     // @DisplayName: Mode1
-    // @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided
+    // @Values: 0:Manual,3:Steering,4:Hold,10:Auto,11:RTL,15:Guided
     // @User: Standard
     // @Description: Driving mode for switch position 1 (910 to 1230 and above 2049)
-    GSCALAR(mode1,           "MODE1",         MODE_1),
+    GSCALAR(mode1,           "MODE1",         MANUAL),
 
     // @Param: MODE2
     // @DisplayName: Mode2
     // @Description: Driving mode for switch position 2 (1231 to 1360)
-    // @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided
+    // @Values: 0:Manual,3:Steering,4:Hold,10:Auto,11:RTL,15:Guided
     // @User: Standard
-    GSCALAR(mode2,           "MODE2",         MODE_2),
+    GSCALAR(mode2,           "MODE2",         MANUAL),
 
     // @Param: MODE3
     // @DisplayName: Mode3
     // @Description: Driving mode for switch position 3 (1361 to 1490)
-    // @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided
+    // @Values: 0:Manual,3:Steering,4:Hold,10:Auto,11:RTL,15:Guided
     // @User: Standard
-    GSCALAR(mode3,           "MODE3",         MODE_3),
+    GSCALAR(mode3,           "MODE3",         MANUAL),
 
     // @Param: MODE4
     // @DisplayName: Mode4
     // @Description: Driving mode for switch position 4 (1491 to 1620)
-    // @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided
+    // @Values: 0:Manual,3:Steering,4:Hold,10:Auto,11:RTL,15:Guided
     // @User: Standard
-    GSCALAR(mode4,           "MODE4",         MODE_4),
+    GSCALAR(mode4,           "MODE4",         MANUAL),
 
     // @Param: MODE5
     // @DisplayName: Mode5
     // @Description: Driving mode for switch position 5 (1621 to 1749)
-    // @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided
+    // @Values: 0:Manual,3:Steering,4:Hold,10:Auto,11:RTL,15:Guided
     // @User: Standard
-    GSCALAR(mode5,           "MODE5",         MODE_5),
+    GSCALAR(mode5,           "MODE5",         MANUAL),
 
     // @Param: MODE6
     // @DisplayName: Mode6
     // @Description: Driving mode for switch position 6 (1750 to 2049)
-    // @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided
+    // @Values: 0:Manual,3:Steering,4:Hold,10:Auto,11:RTL,15:Guided
     // @User: Standard
-    GSCALAR(mode6,           "MODE6",         MODE_6),
+    GSCALAR(mode6,           "MODE6",         MANUAL),
 
     // @Param: WP_RADIUS
     // @DisplayName: Waypoint radius

APMrover2/Parameters.h

@@ -160,7 +160,7 @@ public:
         k_param_mode4,
         k_param_mode5,
         k_param_mode6,
-        k_param_learn_channel,
+        k_param_aux_channel,
 
         //
         // 220: Waypoint data

APMrover2/Rover.h

@@ -377,7 +377,6 @@ private:
     ModeManual mode_manual;
     ModeGuided mode_guided;
     ModeAuto mode_auto;
-    ModeLearning mode_learning;
     ModeSteering mode_steering;
     ModeRTL mode_rtl;
 

APMrover2/config.h

@@ -93,26 +93,6 @@
   #error XXX
 #endif
 
-#if !defined(MODE_1)
-  #define MODE_1    LEARNING
-#endif
-#if !defined(MODE_2)
-  #define MODE_2    LEARNING
-#endif
-#if !defined(MODE_3)
-  #define MODE_3    LEARNING
-#endif
-#if !defined(MODE_4)
-  #define MODE_4    LEARNING
-#endif
-#if !defined(MODE_5)
-  #define MODE_5    LEARNING
-#endif
-#if !defined(MODE_6)
-  #define MODE_6    MANUAL
-#endif
-
-
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
 // STARTUP BEHAVIOUR

APMrover2/control_modes.cpp

@@ -9,9 +9,6 @@ Mode *Rover::control_mode_from_num(const enum mode num)
     case MANUAL:
         ret = &mode_manual;
         break;
-    case LEARNING:
-        ret = &mode_learning;
-        break;
     case STEERING:
         ret = &mode_steering;
         break;

APMrover2/defines.h

@@ -27,7 +27,6 @@ enum ch7_option {
 // ----------------
 enum mode {
     MANUAL       = 0,
-    LEARNING     = 2,
     STEERING     = 3,
     HOLD         = 4,
     AUTO         = 10,

APMrover2/mode.h

@@ -265,17 +265,6 @@ public:
 };
 
 
-class ModeLearning : public ModeManual
-{
-public:
-
-    uint32_t mode_number() const override { return LEARNING; }
-
-    // attributes for mavlink system status reporting
-    bool has_manual_input() const override { return true; }
-};
-
-
 class ModeRTL : public Mode
 {
 public:

APMrover2/mode_learning.cpp

@@ -1,2 +0,0 @@
-#include "mode.h"
-#include "Rover.h"

APMrover2/system.cpp

@@ -289,9 +289,6 @@ void Rover::notify_mode(enum mode new_mode)
     case MANUAL:
         notify.set_flight_mode_str("MANU");
         break;
-    case LEARNING:
-        notify.set_flight_mode_str("LERN");
-        break;
     case STEERING:
         notify.set_flight_mode_str("STER");
         break;