Sub: Remove unused auto_armed flag

ArduSub/AP_State.cpp

@@ -22,17 +22,3 @@ bool Sub::home_is_set()
 {
     return (ap.home_state == HOME_SET_NOT_LOCKED || ap.home_state == HOME_SET_AND_LOCKED);
 }
-
-// ---------------------------------------------
-void Sub::set_auto_armed(bool b)
-{
-    // if no change, exit immediately
-    if (ap.auto_armed == b) {
-        return;
-    }
-
-    ap.auto_armed = b;
-    if (b) {
-        Log_Write_Event(DATA_AUTO_ARMED);
-    }
-}

ArduSub/ArduSub.cpp

@@ -212,9 +212,6 @@ void Sub::fast_loop()
 // 50 Hz tasks
 void Sub::fifty_hz_loop()
 {
-    // check auto_armed status
-    update_auto_armed();
-
     // check pilot input failsafe
     failsafe_manual_control_check();
 

ArduSub/GCS_Mavlink.cpp

@@ -1242,7 +1242,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
 
         case MAV_CMD_MISSION_START:
             if (sub.motors.armed() && sub.set_mode(AUTO, MODE_REASON_GCS_COMMAND)) {
-                sub.set_auto_armed(true);
                 if (sub.mission.state() != AP_Mission::MISSION_RUNNING) {
                     sub.mission.start_or_resume();
                 }

ArduSub/Sub.h

@@ -232,7 +232,6 @@ private:
     union {
         struct {
             uint8_t pre_arm_check       : 1; // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
-            uint8_t auto_armed          : 1; // stops auto missions from beginning until throttle is raised
             uint8_t logging_started     : 1; // true if dataflash logging has started
             uint8_t usb_connected       : 1; // true if APM is powered from USB connection
             uint8_t compass_mot         : 1; // true if we are currently performing compassmot calibration
@@ -467,7 +466,6 @@ private:
     void update_altitude();
     void set_home_state(enum HomeState new_home_state);
     bool home_is_set();
-    void set_auto_armed(bool b);
     float get_smoothing_gain();
     void get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max);
     float get_pilot_desired_yaw_rate(int16_t stick_angle);
@@ -674,7 +672,6 @@ private:
     bool position_ok();
     bool ekf_position_ok();
     bool optflow_position_ok();
-    void update_auto_armed();
     void check_usb_mux(void);
     bool should_log(uint32_t mask);
     void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);

ArduSub/control_auto.cpp

@@ -111,7 +111,7 @@ void Sub::auto_wp_start(const Location_Class& dest_loc)
 //      called by auto_run at 100hz or more
 void Sub::auto_wp_run()
 {
-    // if not auto armed set throttle to zero and exit immediately
+    // if not armed set throttle to zero and exit immediately
     if (!motors.armed()) {
         // To-Do: reset waypoint origin to current location because vehicle is probably on the ground so we don't want it lurching left or right on take-off
         //    (of course it would be better if people just used take-off)
@@ -198,8 +198,8 @@ void Sub::auto_spline_start(const Location_Class& destination, bool stopped_at_s
 //      called by auto_run at 100hz or more
 void Sub::auto_spline_run()
 {
-    // if not auto armed set throttle to zero and exit immediately
-    if (!motors.armed() || !ap.auto_armed) {
+    // if not armed set throttle to zero and exit immediately
+    if (!motors.armed()) {
         // To-Do: reset waypoint origin to current location because vehicle is probably on the ground so we don't want it lurching left or right on take-off
         //    (of course it would be better if people just used take-off)
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
@@ -376,7 +376,7 @@ bool Sub::auto_loiter_start()
 //      called by auto_run at 100hz or more
 void Sub::auto_loiter_run()
 {
-    // if not auto armed set throttle to zero and exit immediately
+    // if not armed set throttle to zero and exit immediately
     if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed

ArduSub/control_circle.cpp

@@ -39,8 +39,8 @@ void Sub::circle_run()
     pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
     pos_control.set_accel_z(g.pilot_accel_z);
 
-    // if not auto armed set throttle to zero and exit immediately
-    if (!motors.armed() || !ap.auto_armed) {
+    // if not armed set throttle to zero and exit immediately
+    if (!motors.armed()) {
         // To-Do: add some initialisation of position controllers
         motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed

ArduSub/control_guided.cpp

@@ -277,8 +277,8 @@ void Sub::guided_run()
 // called from guided_run
 void Sub::guided_pos_control_run()
 {
-    // if not auto armed or motors not enabled set throttle to zero and exit immediately
-    if (!motors.armed() || !ap.auto_armed) {
+    // if motors not enabled set throttle to zero and exit immediately
+    if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
@@ -326,8 +326,8 @@ void Sub::guided_pos_control_run()
 // called from guided_run
 void Sub::guided_vel_control_run()
 {
-    // if not auto armed or motors not enabled set throttle to zero and exit immediately
-    if (!motors.armed() || !ap.auto_armed) {
+    // ifmotors not enabled set throttle to zero and exit immediately
+    if (!motors.armed()) {
         // initialise velocity controller
         pos_control.init_vel_controller_xyz();
         motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
@@ -380,8 +380,8 @@ void Sub::guided_vel_control_run()
 // called from guided_run
 void Sub::guided_posvel_control_run()
 {
-    // if not auto armed or motors not enabled set throttle to zero and exit immediately
-    if (!motors.armed() || !ap.auto_armed) {
+    // if motors not enabled set throttle to zero and exit immediately
+    if (!motors.armed()) {
         // set target position and velocity to current position and velocity
         pos_control.set_pos_target(inertial_nav.get_position());
         pos_control.set_desired_velocity(Vector3f(0,0,0));
@@ -456,8 +456,8 @@ void Sub::guided_posvel_control_run()
 // called from guided_run
 void Sub::guided_angle_control_run()
 {
-    // if not auto armed or motors not enabled set throttle to zero and exit immediately
-    if (!motors.armed() || !ap.auto_armed) {
+    // if motors not enabled set throttle to zero and exit immediately
+    if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0.0f,true,g.throttle_filt);

ArduSub/control_poshold.cpp

@@ -36,9 +36,9 @@ bool Sub::poshold_init(bool ignore_checks)
 void Sub::poshold_run()
 {
     uint32_t tnow = AP_HAL::millis();
-
-    // if not auto armed set throttle to zero and exit immediately
-    if (!motors.armed() || !ap.auto_armed) {
+    
+    // if not armed set throttle to zero and exit immediately
+    if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         wp_nav.init_loiter_target();
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);

ArduSub/defines.h

@@ -150,7 +150,6 @@ enum RTLState {
 #define DATA_SYSTEM_TIME_SET                8
 #define DATA_ARMED                          10
 #define DATA_DISARMED                       11
-#define DATA_AUTO_ARMED                     15
 #define DATA_LOST_GPS                       19
 #define DATA_SET_HOME                       25
 #define DATA_SAVE_TRIM                      38

ArduSub/system.cpp

@@ -283,29 +283,6 @@ bool Sub::optflow_position_ok()
 #endif
 }
 
-// update_auto_armed - update status of auto_armed flag
-void Sub::update_auto_armed()
-{
-    // disarm checks
-    if (ap.auto_armed) {
-        // if motors are disarmed, auto_armed should also be false
-        if (!motors.armed()) {
-            set_auto_armed(false);
-            return;
-        }
-        // if in stabilize or acro flight mode auto-armed should become false
-        if (mode_has_manual_throttle(control_mode) && !failsafe.manual_control) {
-            set_auto_armed(false);
-        }
-    } else {
-        // arm checks
-        // if motors are armed and throttle is above zero auto_armed should be true
-        if (motors.armed()) {
-            set_auto_armed(true);
-        }
-    }
-}
-
 void Sub::check_usb_mux(void)
 {
     bool usb_check = hal.gpio->usb_connected();