Copter: removed HIL_MODE_ATTITUDE

this really can't work any more, as AHRS can't support it

ArduCopter/APM_Config_mavlink_hil.h

@@ -3,9 +3,8 @@
 // HIL_MODE SELECTION
 //
 // Mavlink supports
-// 1. HIL_MODE_ATTITUDE : simulated position, airspeed, and attitude
-// 2. HIL_MODE_SENSORS: full sensor simulation
-#define HIL_MODE            HIL_MODE_ATTITUDE
+// 1. HIL_MODE_SENSORS: full sensor simulation
+#define HIL_MODE            HIL_MODE_SENSORS
 
 // HIL_PORT SELCTION
 //
@@ -36,7 +35,4 @@
 
 // Sensors
 // All sensors are supported in all modes.
-// The magnetometer is not used in
-// HIL_MODE_ATTITUDE but you may leave it
-// enabled if you wish.
 #define MAGNETOMETER        ENABLED

ArduCopter/ArduCopter.pde

@@ -318,7 +318,7 @@ AP_GPS_None     g_gps_driver;
 
 static AP_AHRS_DCM ahrs(ins, g_gps);
 
-#elif HIL_MODE == HIL_MODE_SENSORS
+#elif HIL_MODE != HIL_MODE_DISABLED
 // sensor emulators
 static AP_ADC_HIL              adc;
 static AP_Baro_HIL      barometer;
@@ -333,19 +333,6 @@ static AP_AHRS_DCM             ahrs(ins, g_gps);
 static SITL sitl;
 #endif
 
-#elif HIL_MODE == HIL_MODE_ATTITUDE
-static AP_ADC_HIL              adc;
-static AP_InertialSensor_HIL   ins;
-static AP_AHRS_HIL             ahrs(ins, g_gps);
-static AP_GPS_HIL              g_gps_driver;
-static AP_Compass_HIL          compass;                  // never used
-static AP_Baro_HIL      barometer;
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
- // When building for SITL we use the HIL barometer and compass drivers
-static SITL sitl;
-#endif
-
 #else
  #error Unrecognised HIL_MODE setting.
 #endif // HIL MODE
@@ -1067,7 +1054,6 @@ static void update_batt_compass(void)
     // read battery before compass because it may be used for motor interference compensation
     read_battery();
 
-#if HIL_MODE != HIL_MODE_ATTITUDE  // don't execute in HIL mode
     if(g.compass_enabled) {
         // update compass with throttle value - used for compassmot
         compass.set_throttle((float)g.rc_3.servo_out/1000.0f);
@@ -1079,7 +1065,6 @@ static void update_batt_compass(void)
             Log_Write_Compass();
         }
     }
-#endif
 
     // record throttle output
     throttle_integrator += g.rc_3.servo_out;
@@ -1364,20 +1349,11 @@ static void read_AHRS(void)
 // read baro and sonar altitude at 20hz
 static void update_altitude()
 {
-#if HIL_MODE == HIL_MODE_ATTITUDE
-    // we are in the SIM, fake out the baro and Sonar
-    baro_alt                = g_gps->altitude_cm;
-
-    if(g.sonar_enabled) {
-        sonar_alt           = baro_alt;
-    }
-#else
     // read in baro altitude
     baro_alt            = read_barometer();
 
     // read in sonar altitude
     sonar_alt           = read_sonar();
-#endif  // HIL_MODE == HIL_MODE_ATTITUDE
 
     // write altitude info to dataflash logs
     if (g.log_bitmask & MASK_LOG_CTUN) {
@@ -1518,7 +1494,6 @@ static void tuning(){
         g.pid_optflow_pitch.kD(tuning_value);
         break;
 
-#if HIL_MODE != HIL_MODE_ATTITUDE                                       // do not allow modifying _kp or _kp_yaw gains in HIL mode
     case CH6_AHRS_YAW_KP:
         ahrs._kp_yaw.set(tuning_value);
         break;
@@ -1526,7 +1501,6 @@ static void tuning(){
     case CH6_AHRS_KP:
         ahrs._kp.set(tuning_value);
         break;
-#endif
 
     case CH6_INAV_TC:
         // To-Do: allowing tuning TC for xy and z separately

ArduCopter/GCS_Mavlink.pde

@@ -1180,9 +1180,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 ahrs.set_trim(Vector3f(0,0,0));             // clear out saved trim
             } 
             if (packet.param3 == 1) {
-#if HIL_MODE != HIL_MODE_ATTITUDE
                 init_barometer(false);                      // fast barometer calibratoin
-#endif
             }
             if (packet.param4 == 1) {
                 trim_radio();
@@ -1950,14 +1948,6 @@ mission_failed:
         barometer.setHIL(packet.alt*0.001f);
         compass.setHIL(packet.roll, packet.pitch, packet.yaw);
 
- #if HIL_MODE == HIL_MODE_ATTITUDE
-        // set AHRS hil sensor
-        ahrs.setHil(packet.roll,packet.pitch,packet.yaw,packet.rollspeed,
-                    packet.pitchspeed,packet.yawspeed);
- #endif
-
-
-
         break;
     }
 #endif //  HIL_MODE != HIL_MODE_DISABLED

ArduCopter/Parameters.pde

@@ -946,9 +946,7 @@ const AP_Param::Info var_info[] PROGMEM = {
 
     // @Group: INS_
     // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
-#if HIL_MODE != HIL_MODE_ATTITUDE
     GOBJECT(ins,            "INS_", AP_InertialSensor),
-#endif
 
     // @Group: INAV_
     // @Path: ../libraries/AP_InertialNav/AP_InertialNav.cpp

ArduCopter/defines.h

@@ -89,8 +89,7 @@
 
 // HIL enumerations
 #define HIL_MODE_DISABLED               0
-#define HIL_MODE_ATTITUDE               1
-#define HIL_MODE_SENSORS                2
+#define HIL_MODE_SENSORS                1
 
 // Auto Pilot modes
 // ----------------

ArduCopter/motors.pde

@@ -164,10 +164,8 @@ static void init_arm_motors()
         startup_ground(true);
     }
 
-#if HIL_MODE != HIL_MODE_ATTITUDE
     // fast baro calibration to reset ground pressure
     init_barometer(false);
-#endif
 
     // go back to normal AHRS gains
     ahrs.set_fast_gains(false);

ArduCopter/sensors.pde

@@ -1,8 +1,5 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-// Sensors are not available in HIL_MODE_ATTITUDE
-#if HIL_MODE != HIL_MODE_ATTITUDE
-
  #if CONFIG_SONAR == ENABLED
 static void init_sonar(void)
 {
@@ -65,9 +62,6 @@ static int16_t read_sonar(void)
 #endif
 }
 
-
-#endif // HIL_MODE != HIL_MODE_ATTITUDE
-
 static void init_compass()
 {
     if (!compass.init() || !compass.read()) {

ArduCopter/system.pde

@@ -161,9 +161,7 @@ static void init_ardupilot()
 
     rssi_analog_source      = hal.analogin->channel(g.rssi_pin);
 
-#if HIL_MODE != HIL_MODE_ATTITUDE
     barometer.init();
-#endif
 
     // init the GCS
     gcs[0].init(hal.uartA);
@@ -217,12 +215,10 @@ static void init_ardupilot()
      */
     hal.scheduler->register_timer_failsafe(failsafe_check, 1000);
 
-#if HIL_MODE != HIL_MODE_ATTITUDE
  #if CONFIG_ADC == ENABLED
     // begin filtering the ADC Gyros
     adc.Init();           // APM ADC library initialization
  #endif // CONFIG_ADC
-#endif // HIL_MODE
 
     // Do GPS init
     g_gps = &g_gps_driver;
@@ -268,11 +264,9 @@ static void init_ardupilot()
     }
 #endif
 
-#if HIL_MODE != HIL_MODE_ATTITUDE
     // read Baro pressure at ground
     //-----------------------------
     init_barometer(true);
-#endif
 
     // initialise sonar
 #if CONFIG_SONAR == ENABLED

ArduCopter/test.pde

@@ -4,7 +4,7 @@
 
 // These are function definitions so the Menu can be constructed before the functions
 // are defined below. Order matters to the compiler.
-#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
+#if HIL_MODE == HIL_MODE_DISABLED
 static int8_t   test_baro(uint8_t argc,                 const Menu::arg *argv);
 #endif
 static int8_t   test_compass(uint8_t argc,              const Menu::arg *argv);
@@ -20,7 +20,7 @@ static int8_t   test_relay(uint8_t argc,                const Menu::arg *argv);
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
 static int8_t   test_shell(uint8_t argc,                const Menu::arg *argv);
 #endif
-#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
+#if HIL_MODE == HIL_MODE_DISABLED
 static int8_t   test_sonar(uint8_t argc,                const Menu::arg *argv);
 #endif
 
@@ -29,7 +29,7 @@ static int8_t   test_sonar(uint8_t argc,                const Menu::arg *argv);
 // User enters the string in the console to call the functions on the right.
 // See class Menu in AP_Coommon for implementation details
 const struct Menu::command test_menu_commands[] PROGMEM = {
-#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
+#if HIL_MODE == HIL_MODE_DISABLED
     {"baro",                test_baro},
 #endif
     {"compass",             test_compass},
@@ -45,7 +45,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
     {"shell", 				test_shell},
 #endif
-#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
+#if HIL_MODE == HIL_MODE_DISABLED
     {"sonar",               test_sonar},
 #endif
 };
@@ -60,7 +60,7 @@ test_mode(uint8_t argc, const Menu::arg *argv)
     return 0;
 }
 
-#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
+#if HIL_MODE == HIL_MODE_DISABLED
 static int8_t
 test_baro(uint8_t argc, const Menu::arg *argv)
 {
@@ -522,7 +522,7 @@ test_shell(uint8_t argc, const Menu::arg *argv)
 }
 #endif
 
-#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
+#if HIL_MODE == HIL_MODE_DISABLED
 /*
  *  test the sonar
  */