Copter: remove adsb sensor library based avoidance

adsb based avoidance has been moved to AP_Avoidance library

ArduCopter/ArduCopter.cpp

@@ -127,7 +127,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(compass_cal_update,   100,    100),
     SCHED_TASK(accel_cal_update,      10,    100),
 #if ADSB_ENABLED == ENABLED
-    SCHED_TASK(adsb_update,           10,    100),
     SCHED_TASK(avoidance_adsb_update, 10,    400),
 #endif
 #if FRSKY_TELEM_ENABLED == ENABLED

ArduCopter/Copter.h

@@ -784,8 +784,6 @@ private:
     void autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float target, float measurement_max);
     void autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max);
     void autotune_twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max);
-    void adsb_update(void);
-    void adsb_handle_vehicle_threats(void);
     void avoidance_adsb_update(void);
     bool brake_init(bool ignore_checks);
     void brake_run();

ArduCopter/adsb.cpp

@@ -1,62 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-/*
- * adsb.cpp
- * Copyright (C) Tom Pittenger 2015
- *
- * This file is free software: you can redistribute it and/or modify it
- * under the terms of the GNU General Public License as published by the
- * Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This file is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include "Copter.h"
-
-#if ADSB_ENABLED == ENABLED
-
-/*
- *  this module deals with ADS-B handling for ArduPilot
- *  ADS-B is an RF based collision avoidance protocol to tell nearby aircraft your location
- *  https://en.wikipedia.org/wiki/Automatic_dependent_surveillance_%E2%80%93_broadcast
- *
- */
-
-/*
-  handle periodic adsb database maintenance and handle threats
- */
-void Copter::adsb_update(void)
-{
-    adsb.update();
-    adsb_handle_vehicle_threats();
-}
-
-/*
- * Handle ADS-B based threats which are platform dependent
- */
-void Copter::adsb_handle_vehicle_threats(void)
-{
-    // handle clearing of threat
-    if (adsb.get_is_evading_threat() && !adsb.get_possible_threat()) {
-        adsb.set_is_evading_threat(false);
-        Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, ERROR_CODE_FAILSAFE_RESOLVED);
-        gcs_send_text(MAV_SEVERITY_CRITICAL, "ADS-B threat cleared");
-        return;
-    }
-
-    // handle new threat
-    if (!adsb.get_is_evading_threat() && adsb.get_possible_threat()) {
-        adsb.set_is_evading_threat(true);
-        Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, ERROR_CODE_FAILSAFE_OCCURRED);
-        gcs_send_text(MAV_SEVERITY_CRITICAL, "ADS-B threat!");
-        return;
-    }
-}
-
-#endif // #ADSB_ENABLED

ArduCopter/avoidance_adsb.cpp

@@ -3,6 +3,7 @@
 
 void Copter::avoidance_adsb_update(void)
 {
+    adsb.update();
     avoidance_adsb.update();
 }