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remove avoidance library and logic

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2024-12-26 21:13:51 +01:00
committed by Silvan Fuhrer
parent d2cbe10243
commit 1f2dba68d2
21 changed files with 4 additions and 895 deletions
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src/modules/commander/Commander.cpp
-26
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@@ -1717,8 +1717,6 @@ void Commander::updateParameters()
_vehicle_status.system_type = value_int32;
}
_vehicle_status.avoidance_system_required = _param_com_obs_avoid.get();
_auto_disarm_killed.set_hysteresis_time_from(false, _param_com_kill_disarm.get() * 1_s);
const bool is_rotary = is_rotary_wing(_vehicle_status) || (is_vtol(_vehicle_status)
@@ -1799,9 +1797,6 @@ void Commander::run()
_status_changed = true;
}
/* Update OA parameter */
_vehicle_status.avoidance_system_required = _param_com_obs_avoid.get();
handlePowerButtonState();
systemPowerUpdate();
@@ -2814,16 +2809,6 @@ void Commander::dataLinkCheck()
_vehicle_status.open_drone_id_system_present = true;
_vehicle_status.open_drone_id_system_healthy = healthy;
}
if (telemetry.heartbeat_component_obstacle_avoidance) {
if (_avoidance_system_lost) {
_avoidance_system_lost = false;
_status_changed = true;
}
_datalink_last_heartbeat_avoidance_system = telemetry.timestamp;
_vehicle_status.avoidance_system_valid = telemetry.avoidance_system_healthy;
}
}
}
@@ -2875,17 +2860,6 @@ void Commander::dataLinkCheck()
_open_drone_id_system_lost = true;
_status_changed = true;
}
// AVOIDANCE SYSTEM state check (only if it is enabled)
if (_vehicle_status.avoidance_system_required && !_onboard_controller_lost) {
// if heartbeats stop
if (!_avoidance_system_lost && (_datalink_last_heartbeat_avoidance_system > 0)
&& (hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > 5_s)) {
_avoidance_system_lost = true;
_vehicle_status.avoidance_system_valid = false;
}
}
}
void Commander::battery_status_check()