Remove more stuff

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -16,6 +16,7 @@ control_allocator start
 fw_rate_control start
 fw_att_control start
 fw_mode_manager start
+fw_guidance_control start
 fw_lat_lon_control start
 airspeed_selector start
 

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -28,6 +28,7 @@ fi
 fw_rate_control start vtol
 fw_att_control start vtol
 fw_mode_manager start
+fw_guidance_control start
 fw_lat_lon_control start vtol
 fw_autotune_attitude_control start vtol
 

src/modules/fw_guidance_control/FixedWingGuidanceControl.cpp

@@ -101,31 +101,6 @@ FixedWingGuidanceControl::vehicle_control_mode_poll()
 {
 }
 
-void
-FixedWingGuidanceControl::vehicle_command_poll()
-{
-	vehicle_command_s vehicle_command;
-
-	while (_vehicle_command_sub.update(&vehicle_command)) {
-		if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED) {
-
-			if ((static_cast<uint8_t>(vehicle_command.param1 + .5f) == vehicle_command_s::SPEED_TYPE_AIRSPEED)) {
-				if (vehicle_command.param2 > FLT_EPSILON) {	// param2 is an equivalent airspeed setpoint
-					if (_control_mode_current == FW_POSCTRL_MODE_AUTO) {
-						_pos_sp_triplet.current.cruising_speed = vehicle_command.param2;
-
-					} else if (_control_mode_current == FW_POSCTRL_MODE_MANUAL_ALTITUDE
-						   || _control_mode_current == FW_POSCTRL_MODE_MANUAL_POSITION) {
-						_commanded_manual_airspeed_setpoint = vehicle_command.param2;
-					}
-
-				}
-			}
-
-		}
-	}
-}
-
 void
 FixedWingGuidanceControl::airspeed_poll()
 {
@@ -423,7 +398,6 @@ FixedWingGuidanceControl::Run()
 		airspeed_poll();
 		manual_control_setpoint_poll();
 		vehicle_attitude_poll();
-		vehicle_command_poll();
 		vehicle_control_mode_poll();
 		wind_poll(now);
 

src/modules/fw_guidance_control/FixedWingGuidanceControl.hpp

@@ -204,22 +204,6 @@ private:
 
 	uint8_t _position_sp_type{0};
 
-	enum FW_POSCTRL_MODE {
-		FW_POSCTRL_MODE_AUTO,
-		FW_POSCTRL_MODE_AUTO_ALTITUDE,
-		FW_POSCTRL_MODE_AUTO_CLIMBRATE,
-		FW_POSCTRL_MODE_AUTO_TAKEOFF,
-		FW_POSCTRL_MODE_AUTO_TAKEOFF_NO_NAV,
-		FW_POSCTRL_MODE_AUTO_LANDING_STRAIGHT,
-		FW_POSCTRL_MODE_AUTO_LANDING_CIRCULAR,
-		FW_POSCTRL_MODE_AUTO_PATH,
-		FW_POSCTRL_MODE_MANUAL_POSITION,
-		FW_POSCTRL_MODE_MANUAL_ALTITUDE,
-		FW_POSCTRL_MODE_TRANSITION_TO_HOVER_LINE_FOLLOW,
-		FW_POSCTRL_MODE_TRANSITION_TO_HOVER_HEADING_HOLD,
-		FW_POSCTRL_MODE_OTHER
-	} _control_mode_current{FW_POSCTRL_MODE_OTHER}; // used to check if the mode has changed
-
 	enum StickConfig {
 		STICK_CONFIG_SWAP_STICKS_BIT = (1 << 0),
 		STICK_CONFIG_ENABLE_AIRSPEED_SP_MANUAL_BIT = (1 << 1)
@@ -338,7 +322,6 @@ private:
 
 	void manual_control_setpoint_poll();
 	void vehicle_attitude_poll();
-	void vehicle_command_poll();
 	void vehicle_control_mode_poll();
 
 	void wind_poll(const hrt_abstime now);

src/modules/fw_mode_manager/FixedWingModeManager.cpp

@@ -373,21 +373,7 @@ FixedWingModeManager::set_control_mode_current(const hrt_abstime &now)
 	_skipping_takeoff_detection = false;
 	const bool doing_backtransition = _vehicle_status.in_transition_mode && !_vehicle_status.in_transition_to_fw;
 
-	if (_control_mode.flag_control_offboard_enabled && _position_setpoint_current_valid
+	if ((_control_mode.flag_control_auto_enabled && _control_mode.flag_control_position_enabled)
-	    && _control_mode.flag_control_position_enabled) {
-		if (PX4_ISFINITE(_pos_sp_triplet.current.vx) && PX4_ISFINITE(_pos_sp_triplet.current.vy)
-		    && PX4_ISFINITE(_pos_sp_triplet.current.vz)) {
-			// Offboard position with velocity setpoints
-			_control_mode_current = FW_POSCTRL_MODE_AUTO_PATH;
-			return;
-
-		} else {
-			// Offboard position setpoint only
-			_control_mode_current = FW_POSCTRL_MODE_AUTO;
-			return;
-		}
-
-	} else if ((_control_mode.flag_control_auto_enabled && _control_mode.flag_control_position_enabled)
 		   && _position_setpoint_current_valid) {
 
 		// Enter this mode only if the current waypoint has valid 3D position setpoints.
@@ -2111,10 +2097,6 @@ FixedWingModeManager::Run()
 				break;
 			}
 
-		case FW_POSCTRL_MODE_AUTO_PATH: {
-				break;
-			}
-
 		case FW_POSCTRL_MODE_AUTO_TAKEOFF: {
 				control_auto_takeoff(now, control_interval, curr_pos, ground_speed, _pos_sp_triplet.current);
 				break;

src/modules/fw_mode_manager/FixedWingModeManager.hpp

@@ -226,7 +226,6 @@ private:
 		FW_POSCTRL_MODE_AUTO_TAKEOFF_NO_NAV,
 		FW_POSCTRL_MODE_AUTO_LANDING_STRAIGHT,
 		FW_POSCTRL_MODE_AUTO_LANDING_CIRCULAR,
-		FW_POSCTRL_MODE_AUTO_PATH,
 		FW_POSCTRL_MODE_MANUAL_POSITION,
 		FW_POSCTRL_MODE_MANUAL_ALTITUDE,
 		FW_POSCTRL_MODE_TRANSITION_TO_HOVER_LINE_FOLLOW,