mavlink delete deprecated HIL_CONTROLS

src/modules/mavlink/mavlink_messages.cpp

@@ -2438,174 +2438,6 @@ protected:
 	}
 };
 
-
-//TODO: this is deprecated (09.2016). Remove it some time in the future...
-class MavlinkStreamHILControls : public MavlinkStream
-{
-public:
-	const char *get_name() const
-	{
-		return MavlinkStreamHILControls::get_name_static();
-	}
-
-	static const char *get_name_static()
-	{
-		return "HIL_CONTROLS";
-	}
-
-	static uint16_t get_id_static()
-	{
-		return MAVLINK_MSG_ID_HIL_CONTROLS;
-	}
-
-	uint16_t get_id()
-	{
-		return get_id_static();
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkStreamHILControls(mavlink);
-	}
-
-	unsigned get_size()
-	{
-		return MAVLINK_MSG_ID_HIL_CONTROLS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
-	}
-
-private:
-	MavlinkOrbSubscription *_status_sub;
-	uint64_t _status_time;
-
-	MavlinkOrbSubscription *_act_sub;
-	uint64_t _act_time;
-
-	/* do not allow top copying this class */
-	MavlinkStreamHILControls(MavlinkStreamHILControls &);
-	MavlinkStreamHILControls &operator = (const MavlinkStreamHILControls &);
-
-protected:
-	explicit MavlinkStreamHILControls(Mavlink *mavlink) : MavlinkStream(mavlink),
-		_status_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_status))),
-		_status_time(0),
-		_act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_outputs))),
-		_act_time(0)
-	{}
-
-	bool send(const hrt_abstime t)
-	{
-		vehicle_status_s status = {};
-		actuator_outputs_s act = {};
-
-		bool updated = false;
-		updated |= _act_sub->update(&_act_time, &act);
-		updated |= _status_sub->update(&_status_time, &status);
-
-		if (updated && (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED)) {
-			/* translate the current syste state to mavlink state and mode */
-			uint8_t mavlink_state;
-			uint8_t mavlink_base_mode;
-			uint32_t mavlink_custom_mode;
-			get_mavlink_mode_state(&status, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
-
-			float out[8];
-
-			const float pwm_center = (PWM_DEFAULT_MAX + PWM_DEFAULT_MIN) / 2;
-
-			unsigned system_type = _mavlink->get_system_type();
-
-			/* scale outputs depending on system type */
-			if (system_type == MAV_TYPE_QUADROTOR ||
-			    system_type == MAV_TYPE_HEXAROTOR ||
-			    system_type == MAV_TYPE_OCTOROTOR ||
-			    system_type == MAV_TYPE_VTOL_DUOROTOR ||
-			    system_type == MAV_TYPE_VTOL_QUADROTOR) {
-
-				/* multirotors: set number of rotor outputs depending on type */
-
-				unsigned n;
-
-				switch (system_type) {
-				case MAV_TYPE_QUADROTOR:
-					n = 4;
-					break;
-
-				case MAV_TYPE_HEXAROTOR:
-					n = 6;
-					break;
-
-				case MAV_TYPE_VTOL_DUOROTOR:
-					n = 2;
-					break;
-
-				case MAV_TYPE_VTOL_QUADROTOR:
-					n = 4;
-					break;
-
-				default:
-					n = 8;
-					break;
-				}
-
-				for (unsigned i = 0; i < 8; i++) {
-					if (act.output[i] > PWM_DEFAULT_MIN / 2) {
-						if (i < n) {
-							/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to 0..1 for rotors */
-							out[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
-
-						} else {
-							/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to -1..1 for other channels */
-							out[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
-						}
-
-					} else {
-						/* send 0 when disarmed and for disabled channels */
-						out[i] = 0.0f;
-					}
-				}
-
-			} else {
-				/* fixed wing: scale throttle to 0..1 and other channels to -1..1 */
-
-				for (unsigned i = 0; i < 8; i++) {
-					if (act.output[i] > PWM_DEFAULT_MIN / 2) {
-						if (i != 3) {
-							/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to -1..1 for normal channels */
-							out[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
-
-						} else {
-							/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to 0..1 for throttle */
-							out[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
-						}
-
-					} else {
-						/* set 0 for disabled channels */
-						out[i] = 0.0f;
-					}
-				}
-			}
-
-			mavlink_hil_controls_t msg = {};
-
-			msg.time_usec = hrt_absolute_time();
-			msg.roll_ailerons = out[0];
-			msg.pitch_elevator = out[1];
-			msg.yaw_rudder = out[2];
-			msg.throttle = out[3];
-			msg.aux1 = out[4];
-			msg.aux2 = out[5];
-			msg.aux3 = out[6];
-			msg.aux4 = out[7];
-			msg.mode = mavlink_base_mode;
-			msg.nav_mode = 0;
-
-			mavlink_msg_hil_controls_send_struct(_mavlink->get_channel(), &msg);
-		}
-
-		return updated;
-	}
-};
-
 class MavlinkStreamHILActuatorControls : public MavlinkStream
 {
 public:
@@ -4430,7 +4262,6 @@ const StreamListItem *streams_list[] = {
 	new StreamListItem(&MavlinkStreamServoOutputRaw<1>::new_instance, &MavlinkStreamServoOutputRaw<1>::get_name_static, &MavlinkStreamServoOutputRaw<1>::get_id_static),
 	new StreamListItem(&MavlinkStreamServoOutputRaw<2>::new_instance, &MavlinkStreamServoOutputRaw<2>::get_name_static, &MavlinkStreamServoOutputRaw<2>::get_id_static),
 	new StreamListItem(&MavlinkStreamServoOutputRaw<3>::new_instance, &MavlinkStreamServoOutputRaw<3>::get_name_static, &MavlinkStreamServoOutputRaw<3>::get_id_static),
-	new StreamListItem(&MavlinkStreamHILControls::new_instance, &MavlinkStreamHILControls::get_name_static, &MavlinkStreamHILControls::get_id_static),
 	new StreamListItem(&MavlinkStreamHILActuatorControls::new_instance, &MavlinkStreamHILActuatorControls::get_name_static, &MavlinkStreamHILActuatorControls::get_id_static),
 	new StreamListItem(&MavlinkStreamPositionTargetGlobalInt::new_instance, &MavlinkStreamPositionTargetGlobalInt::get_name_static, &MavlinkStreamPositionTargetGlobalInt::get_id_static),
 	new StreamListItem(&MavlinkStreamLocalPositionSetpoint::new_instance, &MavlinkStreamLocalPositionSetpoint::get_name_static, &MavlinkStreamLocalPositionSetpoint::get_id_static),