From 14c74a59673829630e8fcedac92d73cfdb665d6a Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 22 Aug 2017 16:27:10 +0900 Subject: [PATCH] Rover: remove learning mode saving waypoints can be done in manual or steering mode --- APMrover2/GCS_Mavlink.cpp | 2 +- APMrover2/Parameters.cpp | 24 ++++++++++++------------ APMrover2/Parameters.h | 2 +- APMrover2/Rover.h | 1 - APMrover2/config.h | 20 -------------------- APMrover2/control_modes.cpp | 3 --- APMrover2/defines.h | 1 - APMrover2/mode.h | 11 ----------- APMrover2/mode_learning.cpp | 2 -- APMrover2/system.cpp | 3 --- 10 files changed, 14 insertions(+), 55 deletions(-) delete mode 100644 APMrover2/mode_learning.cpp diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp index d968fa3a53..90df2f7452 100644 --- a/APMrover2/GCS_Mavlink.cpp +++ b/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; diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp index 8838b0ca49..a3c8b1af95 100644 --- a/APMrover2/Parameters.cpp +++ b/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 diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h index 6ee344a2d6..e4da89ec4e 100644 --- a/APMrover2/Parameters.h +++ b/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 diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h index 2846fc8578..175a15bbaf 100644 --- a/APMrover2/Rover.h +++ b/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; diff --git a/APMrover2/config.h b/APMrover2/config.h index b296d835a3..00b99e8e6c 100644 --- a/APMrover2/config.h +++ b/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 diff --git a/APMrover2/control_modes.cpp b/APMrover2/control_modes.cpp index db849cea41..b957990666 100644 --- a/APMrover2/control_modes.cpp +++ b/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; diff --git a/APMrover2/defines.h b/APMrover2/defines.h index 517050cdf9..a893fe8405 100644 --- a/APMrover2/defines.h +++ b/APMrover2/defines.h @@ -27,7 +27,6 @@ enum ch7_option { // ---------------- enum mode { MANUAL = 0, - LEARNING = 2, STEERING = 3, HOLD = 4, AUTO = 10, diff --git a/APMrover2/mode.h b/APMrover2/mode.h index fc295830d2..df019a9f99 100644 --- a/APMrover2/mode.h +++ b/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: diff --git a/APMrover2/mode_learning.cpp b/APMrover2/mode_learning.cpp deleted file mode 100644 index 99c7db9483..0000000000 --- a/APMrover2/mode_learning.cpp +++ /dev/null @@ -1,2 +0,0 @@ -#include "mode.h" -#include "Rover.h" \ No newline at end of file diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp index f3219094e7..0e941af769 100644 --- a/APMrover2/system.cpp +++ b/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;