From 49a761e522af108948e4a43472e661bcdc6c0ec3 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 9 May 2016 22:53:21 +0200 Subject: [PATCH] Clean PX4 autopilot plugin --- .../PX4/PX4AutoPilotPlugin.cc | 36 ++----------------- 1 file changed, 2 insertions(+), 34 deletions(-) diff --git a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc index 1bc95fbc8..14b0ea562 100644 --- a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc +++ b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc @@ -35,39 +35,6 @@ /// @brief This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_PX4 type. /// @author Don Gagne -enum PX4_CUSTOM_MAIN_MODE { - PX4_CUSTOM_MAIN_MODE_MANUAL = 1, - PX4_CUSTOM_MAIN_MODE_ALTCTL, - PX4_CUSTOM_MAIN_MODE_POSCTL, - PX4_CUSTOM_MAIN_MODE_AUTO, - PX4_CUSTOM_MAIN_MODE_ACRO, - PX4_CUSTOM_MAIN_MODE_OFFBOARD, - PX4_CUSTOM_MAIN_MODE_STABILIZED, - PX4_CUSTOM_MAIN_MODE_RATTITUDE - -}; - -enum PX4_CUSTOM_SUB_MODE_AUTO { - PX4_CUSTOM_SUB_MODE_AUTO_READY = 1, - PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, - PX4_CUSTOM_SUB_MODE_AUTO_LOITER, - PX4_CUSTOM_SUB_MODE_AUTO_MISSION, - PX4_CUSTOM_SUB_MODE_AUTO_RTL, - PX4_CUSTOM_SUB_MODE_AUTO_LAND, - PX4_CUSTOM_SUB_MODE_AUTO_RTGS, - PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_ME -}; - -union px4_custom_mode { - struct { - uint16_t reserved; - uint8_t main_mode; - uint8_t sub_mode; - }; - uint32_t data; - float data_float; -}; - PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent) : AutoPilotPlugin(vehicle, parent), _airframeComponent(NULL), @@ -153,7 +120,8 @@ void PX4AutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters) // Check for older parameter version set // FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp // should be used instead. - if (parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF")) { + if (parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF") || + parameterExists(FactSystem::defaultComponentId, "COM_DL_LOSS_EN")) { _incorrectParameterVersion = true; qgcApp()->showMessage("This version of GroundControl can only perform vehicle setup on a newer version of firmware. " "Please perform a Firmware Upgrade if you wish to use Vehicle Setup."); -- 2.22.0