Plane: removed HIL_MODE_ATTITUDE

we really need full sensors for HIL with the L1 controller. The flight
is also _much_ better with sensors HIL.

ArduPlane/APM_Config.h

@@ -17,9 +17,7 @@
  *  // 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
  *
  */
 

ArduPlane/ArduPlane.pde

@@ -213,11 +213,7 @@ AP_InertialSensor_Oilpan ins( &adc );
   #error Unrecognised CONFIG_INS_TYPE setting.
 #endif // CONFIG_INS_TYPE
 
-#if HIL_MODE == HIL_MODE_ATTITUDE
-AP_AHRS_HIL ahrs(&ins, g_gps);
-#else
 AP_AHRS_DCM ahrs(&ins, g_gps);
-#endif
 
 static AP_L1_Control L1_controller(&ahrs);
 
@@ -740,7 +736,7 @@ static void fast_loop()
     // ------------------------------------
     check_short_failsafe();
 
-#if HIL_MODE == HIL_MODE_SENSORS
+#if HIL_MODE != HIL_MODE_DISABLED
     // update hil before AHRS update
     gcs_update();
 #endif
@@ -802,14 +798,12 @@ static void medium_loop()
         update_GPS();
         calc_gndspeed_undershoot();
 
-#if HIL_MODE != HIL_MODE_ATTITUDE
         if (g.compass_enabled && compass.read()) {
             ahrs.set_compass(&compass);
             compass.null_offsets();
         } else {
             ahrs.set_compass(NULL);
         }
-#endif
 
         break;
 
@@ -835,11 +829,9 @@ static void medium_loop()
 
         // Read Airspeed
         // -------------
-#if HIL_MODE != HIL_MODE_ATTITUDE
         if (airspeed.enabled()) {
             read_airspeed();
         }
-#endif
 
         read_receiver_rssi();
 
@@ -908,12 +900,11 @@ static void slow_loop()
         slow_loopCounter++;
         check_long_failsafe();
         superslow_loopCounter++;
-        if(superslow_loopCounter >=200) {                                               //	200 = Execute every minute
-#if HIL_MODE != HIL_MODE_ATTITUDE
+        if(superslow_loopCounter >=200) {                                               
+            //	200 = Execute every minute
             if(g.compass_enabled) {
                 compass.save_offsets();
             }
-#endif
 
             superslow_loopCounter = 0;
         }
@@ -1249,9 +1240,6 @@ static void update_navigation()
 
 static void update_alt()
 {
-#if HIL_MODE == HIL_MODE_ATTITUDE
-    current_loc.alt = g_gps->altitude;
-#else
     // this function is in place to potentially add a sonar sensor in the future
     //altitude_sensor = BARO;
 
@@ -1261,7 +1249,6 @@ static void update_alt()
     } else if (g_gps->status() >= GPS::GPS_OK_FIX_3D) {
         current_loc.alt = g_gps->altitude;     // alt_MSL centimeters (meters * 100)
     }
-#endif
 
     geofence_check(true);
 

ArduPlane/GCS_Mavlink.pde

@@ -1911,15 +1911,6 @@ mission_failed:
         y *= 95446.0;
 
         barometer.setHIL(Temp, y);
-
- #if HIL_MODE == HIL_MODE_ATTITUDE
-        // set AHRS hil sensor. We don't do this in sensors mode, as
-        // in that case the attitude is computed via DCM
-        ahrs.setHil(packet.roll,packet.pitch,packet.yaw,packet.rollspeed,
-                    packet.pitchspeed,packet.yawspeed);
-
- #endif
-
         break;
     }
 #endif // HIL_MODE

ArduPlane/defines.h

@@ -54,7 +54,9 @@
 #define CH_RUDDER CH_4
 #define CH_YAW CH_4
 
-// HIL enumerations
+// HIL enumerations. Note that HIL_MODE_ATTITUDE and HIL_MODE_SENSORS
+// are now the same thing, and are sensors based. The old define is
+// kept to allow old APM_Config.h headers to keep working
 #define HIL_MODE_DISABLED                       0
 #define HIL_MODE_ATTITUDE                       1
 #define HIL_MODE_SENSORS                        2

ArduPlane/system.pde

@@ -153,8 +153,6 @@ static void init_ardupilot()
     }
 #endif
 
-#if HIL_MODE != HIL_MODE_ATTITUDE
-
  #if CONFIG_ADC == ENABLED
     adc.Init();      // APM ADC library initialization
  #endif
@@ -170,7 +168,6 @@ static void init_ardupilot()
             ahrs.set_compass(&compass);
         }
     }
-#endif
 
     // give AHRS the airspeed sensor
     ahrs.set_airspeed(&airspeed);
@@ -226,7 +223,6 @@ static void init_ardupilot()
         // Get necessary data from EEPROM
         //----------------
         //read_EEPROM_airstart_critical();
-#if HIL_MODE != HIL_MODE_ATTITUDE
         ahrs.init();
         ahrs.set_fly_forward(true);
 
@@ -234,8 +230,6 @@ static void init_ardupilot()
                  ins_sample_rate,
                  flash_leds);
 
-#endif
-
         // This delay is important for the APM_RC library to work.
         // We need some time for the comm between the 328 and 1280 to be established.
         int old_pulse = 0;
@@ -474,7 +468,6 @@ static void startup_INS_ground(bool force_accel_level)
 #endif
     ahrs.reset();
 
-#if HIL_MODE != HIL_MODE_ATTITUDE
     // read Baro pressure at ground
     //-----------------------------
     init_barometer();
@@ -487,7 +480,6 @@ static void startup_INS_ground(bool force_accel_level)
         gcs_send_text_P(SEVERITY_LOW,PSTR("NO airspeed"));
     }
 
-#endif
     digitalWrite(B_LED_PIN, LED_ON);                    // Set LED B high to indicate INS ready
     digitalWrite(A_LED_PIN, LED_OFF);
     digitalWrite(C_LED_PIN, LED_OFF);

ArduPlane/test.pde

@@ -56,11 +56,10 @@ static const struct Menu::command test_menu_commands[] PROGMEM = {
     {"airspeed",    test_airspeed},
     {"airpressure", test_pressure},
     {"compass",             test_mag},
-#elif HIL_MODE == HIL_MODE_SENSORS
+#else
     {"gps",                 test_gps},
     {"ins",                 test_ins},
     {"compass",             test_mag},
-#elif HIL_MODE == HIL_MODE_ATTITUDE
 #endif
     {"logging",             test_logging},
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
@@ -413,8 +412,6 @@ test_shell(uint8_t argc, const Menu::arg *argv)
 //-------------------------------------------------------------------------------------------
 // tests in this section are for real sensors or sensors that have been simulated
 
-#if HIL_MODE == HIL_MODE_DISABLED || HIL_MODE == HIL_MODE_SENSORS
-
  #if CONFIG_ADC == ENABLED
 static int8_t
 test_adc(uint8_t argc, const Menu::arg *argv)
@@ -602,8 +599,6 @@ test_mag(uint8_t argc, const Menu::arg *argv)
     return (0);
 }
 
-#endif // HIL_MODE == HIL_MODE_DISABLED || HIL_MODE == HIL_MODE_SENSORS
-
 //-------------------------------------------------------------------------------------------
 // real sensors that have not been simulated yet go here