Remove unused code

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)

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;

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;

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);

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) {

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);
 

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__