Plane: mission library handles gripper

ArduPlane/commands_logic.cpp

@@ -227,23 +227,6 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
                                             cmd.content.do_engine_control.cold_start,
                                             cmd.content.do_engine_control.height_delay_cm*0.01f);
         break;
-#if GRIPPER_ENABLED == ENABLED
-    case MAV_CMD_DO_GRIPPER:                            // Mission command to control gripper
-        switch (cmd.content.gripper.action) {
-            case GRIPPER_ACTION_RELEASE:
-                plane.g2.gripper.release();
-                gcs().send_text(MAV_SEVERITY_INFO, "Gripper Released");
-                break;
-            case GRIPPER_ACTION_GRAB:
-                plane.g2.gripper.grab();
-                gcs().send_text(MAV_SEVERITY_INFO, "Gripper Grabbed");
-                break;
-            default:
-                // do nothing
-                break;
-        }
-        break;
-#endif
 
     default:
         // unable to use the command, allow the vehicle to try the next command
@@ -349,7 +332,6 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd)        // Ret
     case MAV_CMD_DO_MOUNT_CONTROL:
     case MAV_CMD_DO_VTOL_TRANSITION:
     case MAV_CMD_DO_ENGINE_CONTROL:
-    case MAV_CMD_DO_GRIPPER:
         return true;
 
     default:

Tools/autotest/arduplane.py

@@ -668,6 +668,7 @@ class AutoTestPlane(AutoTest):
         ex = None
         try:
             self.wp_load(os.path.join(testdir, "plane-gripper-mission.txt"))
+            self.mavproxy.send("wp set 1\n")
             self.mavproxy.send('switch 1\n')  # auto mode
             self.wait_mode('AUTO')
             self.wait_ready_to_arm()
@@ -698,9 +699,6 @@ class AutoTestPlane(AutoTest):
             self.set_rc(3, 1000)
             self.set_rc(8, 1800)
 
-            self.run_test("Test Gripper mission items",
-                          self.test_gripper_mission)
-
             self.set_parameter("RC12_OPTION", 9)
             self.reboot_sitl() # needed for RC12_OPTION to take effect