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GCS_MAVLink: remove rallypoint/fencepoint protocols

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This commit is contained in:
Peter Barker
2026-04-30 19:52:50 +10:00
committed by Peter Barker
parent 76adf8644c
commit bacda78e0e
4 changed files with 0 additions and 154 deletions
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libraries/GCS_MAVLink/GCS_Common.cpp
-16
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@@ -4457,14 +4457,6 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
handle_command_int(msg);
break;
#if AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT
case MAVLINK_MSG_ID_FENCE_POINT:
case MAVLINK_MSG_ID_FENCE_FETCH_POINT:
send_received_message_deprecation_warning("FENCE_FETCH_POINT");
handle_fence_message(msg);
break;
#endif
#if AP_TERRAIN_AVAILABLE
case MAVLINK_MSG_ID_TERRAIN_DATA:
case MAVLINK_MSG_ID_TERRAIN_CHECK: {
@@ -4533,14 +4525,6 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
break;
#endif
#if AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED
case MAVLINK_MSG_ID_RALLY_POINT:
case MAVLINK_MSG_ID_RALLY_FETCH_POINT:
send_received_message_deprecation_warning("RALLY_FETCH_POINT");
handle_common_rally_message(msg);
break;
#endif
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
if (option_enabled(Option::NOSTREAMOVERRIDE)) {
// options indicate we are to ignore this stream rate
libraries/GCS_MAVLink/GCS_Fence.cpp
-22
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@@ -40,28 +40,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_fence_enable(const mavlink_command_int
}
}
#if AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT
void GCS_MAVLINK::handle_fence_message(const mavlink_message_t &msg)
{
AC_Fence *fence = AP::fence();
if (fence == nullptr) {
return;
}
// send or receive fence points with GCS
switch (msg.msgid) {
case MAVLINK_MSG_ID_FENCE_POINT:
case MAVLINK_MSG_ID_FENCE_FETCH_POINT:
fence->polyfence().handle_msg(*this, msg);
break;
default:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Unhandled common fence message");
#endif
break;
}
}
#endif // AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT
// fence_send_mavlink_status - send fence status to ground station
void GCS_MAVLINK::send_fence_status() const
{
libraries/GCS_MAVLink/GCS_Rally.cpp
-108
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@@ -1,108 +0,0 @@
/*
GCS MAVLink functions related to upload and download of rally
points with the ArduPilot-specific protocol comprised of
MAVLINK_MSG_ID_RALLY_POINT and MAVLINK_MSG_ID_RALLY_FETCH_POINT.
This program 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 program 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 "GCS.h"
#include <AP_Rally/AP_Rally.h>
#include <AP_Logger/AP_Logger.h>
#if AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED
void GCS_MAVLINK::handle_rally_point(const mavlink_message_t &msg) const
{
AP_Rally *r = AP::rally();
if (r == nullptr) {
return;
}
mavlink_rally_point_t packet;
mavlink_msg_rally_point_decode(&msg, &packet);
if (packet.idx >= r->get_rally_total() ||
packet.idx >= r->get_rally_max()) {
send_text(MAV_SEVERITY_WARNING,"Bad rally point ID");
return;
}
if (packet.count != r->get_rally_total()) {
send_text(MAV_SEVERITY_WARNING,"Bad rally point count");
return;
}
// sanity check location
if (!check_latlng(packet.lat, packet.lng)) {
return;
}
RallyLocation rally_point;
rally_point.lat = packet.lat;
rally_point.lng = packet.lng;
rally_point.alt = packet.alt;
rally_point.break_alt = packet.break_alt;
rally_point.land_dir = packet.land_dir;
rally_point.flags = packet.flags;
if (!r->set_rally_point_with_index(packet.idx, rally_point)) {
send_text(MAV_SEVERITY_CRITICAL, "Error setting rally point");
}
}
void GCS_MAVLINK::handle_rally_fetch_point(const mavlink_message_t &msg)
{
AP_Rally *r = AP::rally();
if (r == nullptr) {
return;
}
mavlink_rally_fetch_point_t packet;
mavlink_msg_rally_fetch_point_decode(&msg, &packet);
if (packet.idx > r->get_rally_total()) {
send_text(MAV_SEVERITY_WARNING, "Bad rally point ID");
return;
}
RallyLocation rally_point;
if (!r->get_rally_point_with_index(packet.idx, rally_point)) {
send_text(MAV_SEVERITY_WARNING, "Failed to get rally point");
return;
}
mavlink_msg_rally_point_send(chan, msg.sysid, msg.compid, packet.idx,
r->get_rally_total(), rally_point.lat, rally_point.lng,
rally_point.alt, rally_point.break_alt, rally_point.land_dir,
rally_point.flags);
}
void GCS_MAVLINK::handle_common_rally_message(const mavlink_message_t &msg)
{
switch (msg.msgid) {
case MAVLINK_MSG_ID_RALLY_POINT:
handle_rally_point(msg);
break;
case MAVLINK_MSG_ID_RALLY_FETCH_POINT:
handle_rally_fetch_point(msg);
break;
default:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Unhandled common rally message");
#endif
break;
}
}
#endif // AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED
libraries/GCS_MAVLink/GCS_config.h
-8
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@@ -71,14 +71,6 @@
#define AP_MAVLINK_FAILURE_CREATION_ENABLED 1
#endif
// CODE_REMOVAL
// ArduPilot 4.6 sends deprecation warnings for RALLY_POINT/RALLY_FETCH_POINT
// ArduPilot 4.7 stops compiling them in by default
// ArduPilot 4.8 removes the code entirely
#ifndef AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED
#define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED 0
#endif
// this is for both read and write messages:
#ifndef AP_MAVLINK_MSG_DEVICE_OP_ENABLED
#define AP_MAVLINK_MSG_DEVICE_OP_ENABLED HAL_GCS_ENABLED