From 40a27814e05087c32e9eae84d06c2c6549a12199 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 8 Mar 2017 17:12:43 -0500 Subject: [PATCH] Sub: Remove unused flight modes --- ArduSub/GCS_Mavlink.cpp | 1 - ArduSub/defines.h | 2 -- ArduSub/flight_mode.cpp | 3 --- 3 files changed, 6 deletions(-) diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp index 5530ff8b16..b951d62a59 100644 --- a/ArduSub/GCS_Mavlink.cpp +++ b/ArduSub/GCS_Mavlink.cpp @@ -146,7 +146,6 @@ NOINLINE void Sub::send_extended_status1(mavlink_channel_t chan) case VELHOLD: case CIRCLE: case SURFACE: - case OF_LOITER: case POSHOLD: control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; diff --git a/ArduSub/defines.h b/ArduSub/defines.h index ce13888a6f..be09614e02 100644 --- a/ArduSub/defines.h +++ b/ArduSub/defines.h @@ -95,10 +95,8 @@ enum control_mode_t { AUTO = 3, // not implemented in sub // fully automatic waypoint control using mission commands GUIDED = 4, // not implemented in sub // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands VELHOLD = 5, // automatic x/y velocity control and automatic depth/throttle - // RTL = 6, // not implemented in sub // automatic return to launching point CIRCLE = 7, // not implemented in sub // automatic circular flight with automatic throttle SURFACE = 9, // automatically return to surface, pilot maintains horizontal control - OF_LOITER = 10, // deprecated POSHOLD = 16, // automatic position hold with manual override, with automatic throttle MANUAL = 19 // Pass-through input with no stabilization }; diff --git a/ArduSub/flight_mode.cpp b/ArduSub/flight_mode.cpp index 794a64d8a9..1ca6388013 100644 --- a/ArduSub/flight_mode.cpp +++ b/ArduSub/flight_mode.cpp @@ -263,9 +263,6 @@ void Sub::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode) case SURFACE: port->print("SURFACE"); break; - case OF_LOITER: - port->print("OF_LOITER"); - break; case POSHOLD: port->print("POSHOLD"); break;