From 7c0a836c5ab18ce1b4b0c69f647e9ac3a8a3f2ea Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Thu, 29 Oct 2015 20:46:01 -0700
Subject: [PATCH] Remove unused code
---
src/HomePositionManager.cc | 57 +-------------------------------------
src/HomePositionManager.h | 15 ----------
src/Vehicle/MultiVehicleManager.cc | 7 -----
src/Vehicle/MultiVehicleManager.h | 2 --
src/uas/UAS.cc | 36 ------------------------
src/uas/UAS.h | 3 --
src/uas/UASInterface.h | 5 ----
7 files changed, 1 insertion(+), 124 deletions(-)
diff --git a/src/HomePositionManager.cc b/src/HomePositionManager.cc
index 14b06ba..01f39b4 100644
--- a/src/HomePositionManager.cc
+++ b/src/HomePositionManager.cc
@@ -117,62 +117,7 @@ void HomePositionManager::_loadSettings(void)
if (_homePositions.count() == 0) {
_homePositions.append(new HomePosition("ETH Campus", QGeoCoordinate(47.3769, 8.549444, 470.0), this));
- }
-
- // Deprecated settings for old editor
-
- settings.beginGroup("QGC_UASMANAGER");
- bool changed = setHomePosition(settings.value("HOMELAT", homeLat).toDouble(),
- settings.value("HOMELON", homeLon).toDouble(),
- settings.value("HOMEALT", homeAlt).toDouble());
-
- // Make sure to fire the change - this will
- // make sure widgets get the signal once
- if (!changed)
- {
- emit homePositionChanged(homeLat, homeLon, homeAlt);
- }
-
- settings.endGroup();
-}
-
-bool HomePositionManager::setHomePosition(double lat, double lon, double alt)
-{
- // Checking for NaN and infitiny
- // and checking for borders
- bool changed = false;
- if (!isnan(lat) && !isnan(lon) && !isnan(alt)
- && !isinf(lat) && !isinf(lon) && !isinf(alt)
- && lat <= 90.0 && lat >= -90.0 && lon <= 180.0 && lon >= -180.0)
- {
-
- if (fabs(homeLat - lat) > 1e-7) changed = true;
- if (fabs(homeLon - lon) > 1e-7) changed = true;
- if (fabs(homeAlt - alt) > 0.5f) changed = true;
-
- if (changed)
- {
- homeLat = lat;
- homeLon = lon;
- homeAlt = alt;
-
- emit homePositionChanged(homeLat, homeLon, homeAlt);
- }
- }
- return changed;
-}
-
-bool HomePositionManager::setHomePositionAndNotify(double lat, double lon, double alt)
-{
- // Checking for NaN and infitiny
- // and checking for borders
- bool changed = setHomePosition(lat, lon, alt);
-
- if (changed) {
- qgcApp()->toolbox()->multiVehicleManager()->setHomePositionForAllVehicles(homeLat, homeLon, homeAlt);
- }
-
- return changed;
+ }
}
void HomePositionManager::updateHomePosition(const QString& name, const QGeoCoordinate& coordinate)
diff --git a/src/HomePositionManager.h b/src/HomePositionManager.h
index 0b3d2d5..e915817 100644
--- a/src/HomePositionManager.h
+++ b/src/HomePositionManager.h
@@ -112,21 +112,6 @@ public:
return homeAlt;
}
-public slots:
-
- // Deprecated methods
-
- /** @brief Set the current home position, but do not change it on the UAVs */
- bool setHomePosition(double lat, double lon, double alt);
-
- /** @brief Set the current home position on all UAVs*/
- bool setHomePositionAndNotify(double lat, double lon, double alt);
-
-
-signals:
- /** @brief Current home position changed */
- void homePositionChanged(double lat, double lon, double alt);
-
protected:
double homeLat;
double homeLon;
diff --git a/src/Vehicle/MultiVehicleManager.cc b/src/Vehicle/MultiVehicleManager.cc
index 026edc8..bdfb8ca 100644
--- a/src/Vehicle/MultiVehicleManager.cc
+++ b/src/Vehicle/MultiVehicleManager.cc
@@ -212,13 +212,6 @@ void MultiVehicleManager::_autopilotParametersReadyChanged(bool parametersReady)
}
}
-void MultiVehicleManager::setHomePositionForAllVehicles(double lat, double lon, double alt)
-{
- for (int i=0; i< _vehicles.count(); i++) {
- qobject_cast<Vehicle*>(_vehicles[i])->uas()->setHomePosition(lat, lon, alt);
- }
-}
-
void MultiVehicleManager::saveSetting(const QString &name, const QString& value)
{
QSettings settings;
diff --git a/src/Vehicle/MultiVehicleManager.h b/src/Vehicle/MultiVehicleManager.h
index badc782..b24cd0c 100644
--- a/src/Vehicle/MultiVehicleManager.h
+++ b/src/Vehicle/MultiVehicleManager.h
@@ -65,8 +65,6 @@ public:
Q_INVOKABLE Vehicle* getVehicleById(int vehicleId);
- void setHomePositionForAllVehicles(double lat, double lon, double alt);
-
UAS* activeUas(void) { return _activeVehicle ? _activeVehicle->uas() : NULL; }
QList<Vehicle*> vehicles(void);
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 90d486e..8651db6 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1010,42 +1010,6 @@ void UAS::receiveMessage(mavlink_message_t message)
}
}
-/**
-* Set the home position of the UAS.
-* @param lat The latitude fo the home position
-* @param lon The longitude of the home position
-* @param alt The altitude of the home position
-*/
-void UAS::setHomePosition(double lat, double lon, double alt)
-{
- if (!_vehicle || blockHomePositionChanges)
- return;
-
- QMessageBox::StandardButton button = QGCMessageBox::question(tr("Set a new home position for vehicle %1").arg(getUASID()),
- tr("Do you want to set a new origin? Waypoints defined in the local frame will be shifted in their physical location"),
- QMessageBox::Yes | QMessageBox::Cancel,
- QMessageBox::Cancel);
- if (button == QMessageBox::Yes)
- {
- mavlink_message_t msg;
- mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_CMD_DO_SET_HOME, 1, 0, 0, 0, 0, lat, lon, alt);
- // Send message twice to increase chance that it reaches its goal
- _vehicle->sendMessage(msg);
-
- // Send new home position to UAS
- mavlink_set_gps_global_origin_t home;
- home.target_system = uasId;
- home.latitude = lat*1E7;
- home.longitude = lon*1E7;
- home.altitude = alt*1000;
- qDebug() << "lat:" << home.latitude << " lon:" << home.longitude;
- mavlink_msg_set_gps_global_origin_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &home);
- _vehicle->sendMessage(msg);
- } else {
- blockHomePositionChanges = true;
- }
-}
-
void UAS::startCalibration(UASInterface::StartCalibrationType calType)
{
if (!_vehicle) {
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index f8aedc9..45ab119 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -570,9 +570,6 @@ public slots:
/** @brief Update the system state */
void updateState();
- /** @brief Set world frame origin / home position at this GPS position */
- void setHomePosition(double lat, double lon, double alt);
-
void startCalibration(StartCalibrationType calType);
void stopCalibration(void);
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index fec8ca1..24f5b81 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -119,9 +119,6 @@ public:
return color;
}
- static const unsigned int WAYPOINT_RADIUS_DEFAULT_FIXED_WING = 25;
- static const unsigned int WAYPOINT_RADIUS_DEFAULT_ROTARY_WING = 5;
-
enum StartCalibrationType {
StartCalibrationRadio,
StartCalibrationGyro,
@@ -158,8 +155,6 @@ public slots:
/** @brief Order the robot to pair its receiver **/
virtual void pairRX(int rxType, int rxSubType) = 0;
-
- virtual void setHomePosition(double lat, double lon, double alt) = 0;
/** @brief Send the full HIL state to the MAV */
#ifndef __mobile__