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Navigator: remove support for DO_SET_SERVO

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-03-16 11:55:45 +01:00
committed by Beat Küng
parent a1812dbde0
commit 17cd65a239
6 changed files with 2 additions and 47 deletions
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src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp
-24
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@@ -267,7 +267,6 @@ bool FeasibilityChecker::checkMissionItemValidity(mission_item_s &mission_item,
mission_item.nav_cmd != NAV_CMD_DO_JUMP &&
mission_item.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
mission_item.nav_cmd != NAV_CMD_DO_SET_HOME &&
mission_item.nav_cmd != NAV_CMD_DO_SET_SERVO &&
mission_item.nav_cmd != NAV_CMD_DO_LAND_START &&
mission_item.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL &&
mission_item.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
@@ -300,28 +299,6 @@ bool FeasibilityChecker::checkMissionItemValidity(mission_item_s &mission_item,
return false;
}
/* Check non navigation item */
if (mission_item.nav_cmd == NAV_CMD_DO_SET_SERVO) {
/* check actuator number */
if (mission_item.params[0] < 0 || mission_item.params[0] > 5) {
mavlink_log_critical(_mavlink_log_pub, "Actuator number %d is out of bounds 0..5\t",
(int)mission_item.params[0]);
events::send<uint32_t>(events::ID("navigator_mis_act_index"), {events::Log::Error, events::LogInternal::Warning},
"Actuator number {1} is out of bounds 0..5", (int)mission_item.params[0]);
return false;
}
/* check actuator value */
if (mission_item.params[1] < -PWM_DEFAULT_MAX || mission_item.params[1] > PWM_DEFAULT_MAX) {
mavlink_log_critical(_mavlink_log_pub,
"Actuator value %d is out of bounds -PWM_DEFAULT_MAX..PWM_DEFAULT_MAX\t", (int)mission_item.params[1]);
events::send<uint32_t, uint32_t>(events::ID("navigator_mis_act_range"), {events::Log::Error, events::LogInternal::Warning},
"Actuator value {1} is out of bounds -{2}..{2}", (int)mission_item.params[1], PWM_DEFAULT_MAX);
return false;
}
}
// check if the mission starts with a land command while the vehicle is landed
if ((current_index == 0) && mission_item.nav_cmd == NAV_CMD_LAND && _is_landed) {
@@ -375,7 +352,6 @@ bool FeasibilityChecker::checkTakeoff(mission_item_s &mission_item)
mission_item.nav_cmd != NAV_CMD_DO_JUMP &&
mission_item.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
mission_item.nav_cmd != NAV_CMD_DO_SET_HOME &&
mission_item.nav_cmd != NAV_CMD_DO_SET_SERVO &&
mission_item.nav_cmd != NAV_CMD_DO_LAND_START &&
mission_item.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL &&
mission_item.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&