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Remove MOUNT_CONFIGURE and MOUNT_CONTROL support #28990

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merged 3 commits into from
Jan 3, 2025
Merged

Remove MOUNT_CONFIGURE and MOUNT_CONTROL support #28990

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0820029
AP_Mount: remove MOUNT_CONFIGURE and MOUNT_CONTROL support
peterbarker Jan 2, 2025
d31dfc7
GCS_MAVLink: remove MOUNT_CONFIGURE and MOUNT_CONTROL support
peterbarker Jan 2, 2025
a8a62bd
Tools: remove MOUNT_CONFIGURE and MOUNT_CONTROL support
peterbarker Jan 2, 2025
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2 changes: 0 additions & 2 deletions Tools/scripts/build_options.py
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Original file line number Diff line number Diff line change
Expand Up @@ -369,8 +369,6 @@ def config_option(self):
Feature('MAVLink', 'MAVLINK_VERSION_REQUEST', 'AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED', 'Enable Old AUTOPILOT_VERSION_REQUEST mesage', 0, None), # noqa
Feature('MAVLink', 'REQUEST_AUTOPILOT_CAPA', 'AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED', 'Enable Old REQUEST_AUTOPILOT_CAPABILITIES command', 0, None), # noqa
Feature('MAVLink', 'MAV_MSG_RELAY_STATUS', 'AP_MAVLINK_MSG_RELAY_STATUS_ENABLED', 'Enable Send RELAY_STATUS message', 0, 'RELAY'), # noqa
Feature('MAVLink', 'MAV_MSG_MOUNT_CONTROL', 'AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED', 'Enable Deprecated MOUNT_CONTROL message', 0, "MOUNT"), # noqa
Feature('MAVLink', 'MAV_MSG_MOUNT_CONFIGURE', 'AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED', 'Enable Deprecated MOUNT_CONFIGURE message', 0, "MOUNT"), # noqa
Feature('MAVLink', 'AP_MAVLINK_BATTERY2_ENABLED', 'AP_MAVLINK_BATTERY2_ENABLED', 'Enable Send old BATTERY2 message', 0, None), # noqa
Feature('MAVLink', 'MAV_DEVICE_OP', 'AP_MAVLINK_MSG_DEVICE_OP_ENABLED', 'Enable DeviceOp MAVLink messages', 0, None), # noqa
Feature('MAVLink', 'MAV_SERVO_RELAY', 'AP_MAVLINK_SERVO_RELAY_ENABLED', 'Enable ServoRelay MAVLink messages', 0, 'SERVORELAY_EVENTS'), # noqa
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2 changes: 0 additions & 2 deletions Tools/scripts/extract_features.py
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Original file line number Diff line number Diff line change
Expand Up @@ -248,8 +248,6 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
('AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED', 'GCS_MAVLINK::handle_command_request_autopilot_capabilities'), # noqa
('AP_MAVLINK_MSG_RELAY_STATUS_ENABLED', 'GCS_MAVLINK::send_relay_status'),
('AP_MAVLINK_BATTERY2_ENABLED', 'GCS_MAVLINK::send_battery2'),
('AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED', 'AP_Mount::handle_mount_control'),
('AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED', 'AP_Mount::handle_mount_configure'),
('AP_MAVLINK_MSG_DEVICE_OP_ENABLED', 'GCS_MAVLINK::handle_device_op_write'),
('AP_MAVLINK_SERVO_RELAY_ENABLED', 'GCS_MAVLINK::handle_servorelay_message'),
('AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED', 'GCS_MAVLINK::handle_serial_control'),
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44 changes: 0 additions & 44 deletions libraries/AP_Mount/AP_Mount.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -574,40 +574,6 @@ void AP_Mount::handle_global_position_int(const mavlink_message_t &msg)
}
}

#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
/// Change the configuration of the mount
void AP_Mount::handle_mount_configure(const mavlink_message_t &msg)
{
auto *backend = get_primary();
if (backend == nullptr) {
return;
}

mavlink_mount_configure_t packet;
mavlink_msg_mount_configure_decode(&msg, &packet);

// send message to backend
backend->handle_mount_configure(packet);
}
#endif

#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
/// Control the mount (depends on the previously set mount configuration)
void AP_Mount::handle_mount_control(const mavlink_message_t &msg)
{
auto *backend = get_primary();
if (backend == nullptr) {
return;
}

mavlink_mount_control_t packet;
mavlink_msg_mount_control_decode(&msg, &packet);

// send message to backend
backend->handle_mount_control(packet);
}
#endif

#if HAL_GCS_ENABLED
// send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
void AP_Mount::send_gimbal_device_attitude_status(mavlink_channel_t chan)
Expand Down Expand Up @@ -988,16 +954,6 @@ void AP_Mount::handle_message(mavlink_channel_t chan, const mavlink_message_t &m
case MAVLINK_MSG_ID_GIMBAL_REPORT:
handle_gimbal_report(chan, msg);
break;
#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
case MAVLINK_MSG_ID_MOUNT_CONFIGURE:
handle_mount_configure(msg);
break;
#endif
#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
case MAVLINK_MSG_ID_MOUNT_CONTROL:
handle_mount_control(msg);
break;
#endif
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
handle_global_position_int(msg);
break;
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6 changes: 0 additions & 6 deletions libraries/AP_Mount/AP_Mount.h
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Original file line number Diff line number Diff line change
Expand Up @@ -316,12 +316,6 @@ class AP_Mount
AP_Mount_Backend *get_instance(uint8_t instance) const;

void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg);
#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
void handle_mount_configure(const mavlink_message_t &msg);
#endif
#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
void handle_mount_control(const mavlink_message_t &msg);
#endif

MAV_RESULT handle_command_do_mount_configure(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_do_mount_control(const mavlink_command_int_t &packet);
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46 changes: 0 additions & 46 deletions libraries/AP_Mount/AP_Mount_Backend.cpp
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Expand Up @@ -189,14 +189,6 @@ void AP_Mount_Backend::set_target_sysid(uint8_t sysid)
}
}

#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
// process MOUNT_CONFIGURE messages received from GCS. deprecated.
void AP_Mount_Backend::handle_mount_configure(const mavlink_mount_configure_t &packet)
{
set_mode((MAV_MOUNT_MODE)packet.mount_mode);
}
#endif

#if HAL_GCS_ENABLED
// send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
void AP_Mount_Backend::send_gimbal_device_attitude_status(mavlink_channel_t chan)
Expand Down Expand Up @@ -299,44 +291,6 @@ void AP_Mount_Backend::send_gimbal_manager_status(mavlink_channel_t chan)
0); // secondary control component id
}

#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
// process MOUNT_CONTROL messages received from GCS. deprecated.
void AP_Mount_Backend::handle_mount_control(const mavlink_mount_control_t &packet)
{
switch (get_mode()) {
case MAV_MOUNT_MODE_MAVLINK_TARGETING:
// input_a : Pitch in centi-degrees (earth-frame)
// input_b : Roll in centi-degrees (earth-frame)
// input_c : Yaw in centi-degrees (interpreted as body-frame)
set_angle_target(packet.input_b * 0.01, packet.input_a * 0.01, packet.input_c * 0.01, false);
break;

case MAV_MOUNT_MODE_GPS_POINT: {
// input_a : lat in degE7
// input_b : lon in degE7
// input_c : alt in cm (interpreted as above home)
const Location target_location {
packet.input_a,
packet.input_b,
packet.input_c,
Location::AltFrame::ABOVE_HOME
};
set_roi_target(target_location);
break;
}

case MAV_MOUNT_MODE_RETRACT:
case MAV_MOUNT_MODE_NEUTRAL:
case MAV_MOUNT_MODE_RC_TARGETING:
case MAV_MOUNT_MODE_SYSID_TARGET:
case MAV_MOUNT_MODE_HOME_LOCATION:
default:
// no effect in these modes
break;
}
}
#endif

// handle do_mount_control command. Returns MAV_RESULT_ACCEPTED on success
MAV_RESULT AP_Mount_Backend::handle_command_do_mount_control(const mavlink_command_int_t &packet)
{
Expand Down
10 changes: 0 additions & 10 deletions libraries/AP_Mount/AP_Mount_Backend.h
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Original file line number Diff line number Diff line change
Expand Up @@ -107,16 +107,6 @@ class AP_Mount_Backend
// requires original message in order to extract caller's sysid and compid
MAV_RESULT handle_command_do_gimbal_manager_configure(const mavlink_command_int_t &packet, const mavlink_message_t &msg);

#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
// process MOUNT_CONFIGURE messages received from GCS. deprecated.
void handle_mount_configure(const mavlink_mount_configure_t &msg);
#endif

#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
// process MOUNT_CONTROL messages received from GCS. deprecated.
void handle_mount_control(const mavlink_mount_control_t &packet);
#endif

// send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
void send_gimbal_device_attitude_status(mavlink_channel_t chan);

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12 changes: 0 additions & 12 deletions libraries/GCS_MAVLink/GCS_Common.cpp
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Expand Up @@ -4284,18 +4284,6 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
#endif

#if HAL_MOUNT_ENABLED
#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
case MAVLINK_MSG_ID_MOUNT_CONFIGURE: // deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
send_received_message_deprecation_warning("MOUNT_CONFIGURE");
handle_mount_message(msg);
break;
#endif
#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
case MAVLINK_MSG_ID_MOUNT_CONTROL: // deprecated. Use MAV_CMD_DO_MOUNT_CONTROL
send_received_message_deprecation_warning("MOUNT_CONTROL");
handle_mount_message(msg);
break;
#endif
case MAVLINK_MSG_ID_GIMBAL_REPORT:
case MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION:
case MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS:
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12 changes: 0 additions & 12 deletions libraries/GCS_MAVLink/GCS_config.h
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Expand Up @@ -71,18 +71,6 @@
#define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED 0
#endif

// CODE_REMOVAL
// ArduPilot 4.5 sends deprecation warnings for MOUNT_CONTROL/MOUNT_CONFIGURE
// ArduPilot 4.6 stops compiling them in
// ArduPilot 4.7 removes the code entirely
#ifndef AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
#define AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED 0
#endif

#ifndef AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
#define AP_MAVLINK_MSG_MOUNT_CONTROL_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
Expand Down
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