Plane: Remove support for CONDITION_CHANGE_ALT

ArduPlane/Plane.h

@@ -841,7 +841,6 @@ private:
     bool verify_RTL();
     bool verify_continue_and_change_alt();
     bool verify_wait_delay();
-    bool verify_change_alt();
     bool verify_within_distance();
     bool verify_altitude_wait(const AP_Mission::Mission_Command &cmd);
     bool verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd);
@@ -1027,7 +1026,6 @@ private:
     void do_vtol_land(const AP_Mission::Mission_Command& cmd);
     bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
     void do_wait_delay(const AP_Mission::Mission_Command& cmd);
-    void do_change_alt(const AP_Mission::Mission_Command& cmd);
     void do_within_distance(const AP_Mission::Mission_Command& cmd);
     void do_change_speed(const AP_Mission::Mission_Command& cmd);
     void do_set_home(const AP_Mission::Mission_Command& cmd);

ArduPlane/altitude.cpp

@@ -48,7 +48,7 @@ void Plane::adjust_altitude_target()
 
         // stay within the range of the start and end locations in altitude
         constrain_target_altitude_location(next_WP_loc, prev_WP_loc);
-    } else if (mission.get_current_do_cmd().id != MAV_CMD_CONDITION_CHANGE_ALT) {
+    } else {
         set_target_altitude_location(next_WP_loc);
     }
 

ArduPlane/commands_logic.cpp

@@ -103,10 +103,6 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
         do_within_distance(cmd);
         break;
 
-    case MAV_CMD_CONDITION_CHANGE_ALT:
-        do_change_alt(cmd);
-        break;
-
     // Do commands
 
     case MAV_CMD_DO_CHANGE_SPEED:
@@ -277,9 +273,6 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd)        // Ret
     case MAV_CMD_CONDITION_DISTANCE:
         return verify_within_distance();
 
-    case MAV_CMD_CONDITION_CHANGE_ALT:
-        return verify_change_alt();
-
 #if PARACHUTE == ENABLED
     case MAV_CMD_DO_PARACHUTE:
         // assume parachute was released successfully
@@ -792,23 +785,6 @@ void Plane::do_wait_delay(const AP_Mission::Mission_Command& cmd)
     condition_value  = cmd.content.delay.seconds * 1000;    // convert seconds to milliseconds
 }
 
-/*
-  process a DO_CHANGE_ALT request
- */
-void Plane::do_change_alt(const AP_Mission::Mission_Command& cmd)
-{
-    condition_rate = labs((int)cmd.content.location.lat);   // climb rate in cm/s
-    condition_value = cmd.content.location.alt;             // To-Do: ensure this altitude is an absolute altitude?
-    if (condition_value < adjusted_altitude_cm()) {
-        condition_rate = -condition_rate;
-    }
-    set_target_altitude_current_adjusted();
-    change_target_altitude(condition_rate/10);
-    next_WP_loc.alt = condition_value;                                      // For future nav calculations
-    reset_offset_altitude();
-    setup_glide_slope();
-}
-
 void Plane::do_within_distance(const AP_Mission::Mission_Command& cmd)
 {
     condition_value  = cmd.content.distance.meters;
@@ -827,19 +803,6 @@ bool Plane::verify_wait_delay()
     return false;
 }
 
-bool Plane::verify_change_alt()
-{
-    if( (condition_rate>=0 && adjusted_altitude_cm() >= condition_value) || 
-        (condition_rate<=0 && adjusted_altitude_cm() <= condition_value)) {
-        condition_value = 0;
-        return true;
-    }
-    // condition_rate is climb rate in cm/s.  
-    // We divide by 10 because this function is called at 10hz
-    change_target_altitude(condition_rate/10);
-    return false;
-}
-
 bool Plane::verify_within_distance()
 {
     if (auto_state.wp_distance < MAX(condition_value,0)) {