Merge pull request #8617 from DonLakeFlyer/RemoveHILCode

Remove unused HIL code

qgroundcontrol.pro

@@ -751,9 +751,6 @@ HEADERS += \
     src/GPS/vehicle_gps_position.h \
     src/Joystick/JoystickSDL.h \
     src/RunGuard.h \
-    src/comm/QGCHilLink.h \
-    src/comm/QGCJSBSimLink.h \
-    src/comm/QGCXPlaneLink.h \
 }
 
 iOSBuild {
@@ -940,8 +937,6 @@ SOURCES += \
     src/GPS/RTCM/RTCMMavlink.cc \
     src/Joystick/JoystickSDL.cc \
     src/RunGuard.cc \
-    src/comm/QGCJSBSimLink.cc \
-    src/comm/QGCXPlaneLink.cc \
 }
 
 #

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -66,11 +66,9 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
                 _airframeComponent->setupTriggerSignals();
                 _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
 
-                if (!_vehicle->hilMode()) {
-                    _sensorsComponent = new SensorsComponent(_vehicle, this);
-                    _sensorsComponent->setupTriggerSignals();
-                    _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
-                }
+                _sensorsComponent = new SensorsComponent(_vehicle, this);
+                _sensorsComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
 
                 _radioComponent = new PX4RadioComponent(_vehicle, this);
                 _radioComponent->setupTriggerSignals();
@@ -151,7 +149,7 @@ QString PX4AutoPilotPlugin::prerequisiteSetup(VehicleComponent* component) const
                 return _airframeComponent->name();
             } else if (_radioComponent && !_radioComponent->setupComplete()) {
                 return _radioComponent->name();
-            } else if (_sensorsComponent && !_vehicle->hilMode() && !_sensorsComponent->setupComplete()) {
+            } else if (_sensorsComponent && !_sensorsComponent->setupComplete()) {
                 return _sensorsComponent->name();
             }
         }

src/Vehicle/Vehicle.cc

@@ -788,9 +788,6 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     case MAVLINK_MSG_ID_WIND_COV:
         _handleWindCov(message);
         break;
-    case MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS:
-        _handleHilActuatorControls(message);
-        break;
     case MAVLINK_MSG_ID_LOGGING_DATA:
         _handleMavlinkLoggingData(message);
         break;
@@ -1451,30 +1448,6 @@ QString Vehicle::vehicleUIDStr()
     return uid;
 }
 
-void Vehicle::_handleHilActuatorControls(mavlink_message_t &message)
-{
-    mavlink_hil_actuator_controls_t hil;
-    mavlink_msg_hil_actuator_controls_decode(&message, &hil);
-    emit hilActuatorControlsChanged(hil.time_usec, hil.flags,
-                                    hil.controls[0],
-            hil.controls[1],
-            hil.controls[2],
-            hil.controls[3],
-            hil.controls[4],
-            hil.controls[5],
-            hil.controls[6],
-            hil.controls[7],
-            hil.controls[8],
-            hil.controls[9],
-            hil.controls[10],
-            hil.controls[11],
-            hil.controls[12],
-            hil.controls[13],
-            hil.controls[14],
-            hil.controls[15],
-            hil.mode);
-}
-
 void Vehicle::_handleCommandLong(mavlink_message_t& message)
 {
 #ifdef NO_SERIAL_LINK
@@ -2526,30 +2499,6 @@ void Vehicle::setPriorityLinkByName(const QString& priorityLinkName)
     }
 }
 
-bool Vehicle::hilMode()
-{
-    return _base_mode & MAV_MODE_FLAG_HIL_ENABLED;
-}
-
-void Vehicle::setHilMode(bool hilMode)
-{
-    mavlink_message_t msg;
-
-    uint8_t newBaseMode = _base_mode & ~MAV_MODE_FLAG_DECODE_POSITION_HIL;
-    if (hilMode) {
-        newBaseMode |= MAV_MODE_FLAG_HIL_ENABLED;
-    }
-
-    mavlink_msg_set_mode_pack_chan(_mavlink->getSystemId(),
-                                   _mavlink->getComponentId(),
-                                   priorityLink()->mavlinkChannel(),
-                                   &msg,
-                                   id(),
-                                   newBaseMode,
-                                   _custom_mode);
-    sendMessageOnLink(priorityLink(), msg);
-}
-
 void Vehicle::requestDataStream(MAV_DATA_STREAM stream, uint16_t rate, bool sendMultiple)
 {
     mavlink_message_t               msg;

src/Vehicle/Vehicle.h

@@ -543,7 +543,6 @@ public:
     Q_PROPERTY(QStringList          flightModes             READ flightModes                                            NOTIFY flightModesChanged)
     Q_PROPERTY(QStringList          extraJoystickFlightModes READ extraJoystickFlightModes                              NOTIFY flightModesChanged)
     Q_PROPERTY(QString              flightMode              READ flightMode             WRITE setFlightMode             NOTIFY flightModeChanged)
-    Q_PROPERTY(bool                 hilMode                 READ hilMode                WRITE setHilMode                NOTIFY hilModeChanged)
     Q_PROPERTY(TrajectoryPoints*    trajectoryPoints        MEMBER _trajectoryPoints                                    CONSTANT)
     Q_PROPERTY(QmlObjectListModel*  cameraTriggerPoints     READ cameraTriggerPoints                                    CONSTANT)
     Q_PROPERTY(float                latitude                READ latitude                                               NOTIFY coordinateChanged)
@@ -866,9 +865,6 @@ public:
     QVariantList links() const;
     void setPriorityLinkByName(const QString& priorityLinkName);
 
-    bool hilMode();
-    void setHilMode(bool hilMode);
-
     bool fixedWing() const;
     bool multiRotor() const;
     bool vtol() const;
@@ -1135,9 +1131,6 @@ signals:
     void armedPositionChanged();
     void armedChanged                   (bool armed);
     void flightModeChanged              (const QString& flightMode);
-    void hilModeChanged                 (bool hilMode);
-    /** @brief HIL actuator controls (replaces HIL controls) */
-    void hilActuatorControlsChanged     (quint64 time, quint64 flags, float ctl_0, float ctl_1, float ctl_2, float ctl_3, float ctl_4, float ctl_5, float ctl_6, float ctl_7, float ctl_8, float ctl_9, float ctl_10, float ctl_11, float ctl_12, float ctl_13, float ctl_14, float ctl_15, quint8 mode);
     void connectionLostChanged          (bool connectionLost);
     void connectionLostEnabledChanged   (bool connectionLostEnabled);
     void autoDisconnectChanged          (bool autoDisconnectChanged);
@@ -1299,7 +1292,6 @@ private:
     void _handleCommandLong             (mavlink_message_t& message);
     void _handleAutopilotVersion        (LinkInterface* link, mavlink_message_t& message);
     void _handleProtocolVersion         (LinkInterface* link, mavlink_message_t& message);
-    void _handleHilActuatorControls     (mavlink_message_t& message);
     void _handleGpsRawInt               (mavlink_message_t& message);
     void _handleGlobalPositionInt       (mavlink_message_t& message);
     void _handleAltitude                (mavlink_message_t& message);

src/comm/QGCHilLink.h

-#pragma once
-
-#include <QThread>
-#include <QProcess>
-#include "inttypes.h"
-
-class QGCHilLink : public QThread
-{
-    Q_OBJECT
-public:
-    
-    virtual bool isConnected() = 0;
-    virtual qint64 bytesAvailable() = 0;
-    virtual int getPort() const = 0;
-
-    /**
-     * @brief The human readable port name
-     */
-    virtual QString getName() = 0;
-
-    /**
-     * @brief Get remote host and port
-     * @return string in format <host>:<port>
-     */
-    virtual QString getRemoteHost() = 0;
-
-    /**
-     * @brief Get the application name and version
-     * @return A string containing a unique application name and compatibility version
-     */
-    virtual QString getVersion() = 0;
-
-    /**
-     * @brief Get index of currently selected airframe
-     * @return -1 if default is selected, index else
-     */
-    virtual int getAirFrameIndex() = 0;
-
-    /**
-     * @brief Check if sensor level HIL is enabled
-     * @return true if sensor HIL is enabled
-     */
-    virtual bool sensorHilEnabled() = 0;
-
-public slots:
-    virtual void setPort(int port) = 0;
-    /** @brief Add a new host to broadcast messages to */
-    virtual void setRemoteHost(const QString& host) = 0;
-    /** @brief Send new control states to the simulation */
-    virtual void updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode) = 0;
-    virtual void processError(QProcess::ProcessError err) = 0;
-    /** @brief Set the simulator version as text string */
-    virtual void setVersion(const QString& version) = 0;
-    /** @brief Enable sensor-level HIL (instead of state-level HIL) */
-    virtual void enableSensorHIL(bool enable) = 0;
-
-    virtual void selectAirframe(const QString& airframe) = 0;
-
-    virtual void readBytes() = 0;
-    /**
-     * @brief Write a number of bytes to the interface.
-     *
-     * @param data Pointer to the data byte array
-     * @param size The size of the bytes array
-     **/
-    void writeBytesSafe(const char* data, int length)
-    {
-        emit _invokeWriteBytes(QByteArray(data, length));
-    }
-
-    virtual bool connectSimulation() = 0;
-    virtual bool disconnectSimulation() = 0;
-
-private slots:
-    virtual void _writeBytes(const QByteArray) = 0;
-
-protected:
-    virtual void setName(QString name) = 0;
-
-    QGCHilLink() :
-        QThread()
-    {
-        connect(this, &QGCHilLink::_invokeWriteBytes, this, &QGCHilLink::_writeBytes);
-    }
-
-signals:
-    /**
-     * @brief This signal is emitted instantly when the link is connected
-     **/
-    void simulationConnected();
-
-    /**
-     * @brief This signal is emitted instantly when the link is disconnected
-     **/
-    void simulationDisconnected();
-
-    /**
-     * @brief Thread safe signal to disconnect simulator from other threads
-     **/
-    void disconnectSim();
-
-    /**
-     * @brief This signal is emitted instantly when the link status changes
-     **/
-    void simulationConnected(bool connected);
-
-    /** @brief State update from simulation */
-    void hilStateChanged(quint64 time_us, float roll, float pitch, float yaw, float rollspeed,
-                                          float pitchspeed, float yawspeed, double lat, double lon, double alt,
-                                          float vx, float vy, float vz, float ind_airspeed, float true_airspeed, float xacc, float yacc, float zacc);
-
-    void hilGroundTruthChanged(quint64 time_us, float roll, float pitch, float yaw, float rollspeed,
-                              float pitchspeed, float yawspeed, double lat, double lon, double alt,
-                              float vx, float vy, float vz, float ind_airspeed, float true_airspeed, float xacc, float yacc, float zacc);
-
-    void sensorHilGpsChanged(quint64 time_us, double lat, double lon, double alt, int fix_type, float eph, float epv, float vel, float vn, float ve, float vd, float cog, int satellites);
-
-    void sensorHilRawImuChanged(quint64 time_us, float xacc, float yacc, float zacc,
-                                                  float xgyro, float ygyro, float zgyro,
-                                                  float xmag, float ymag, float zmag,
-                                                  float abs_pressure, float diff_pressure,
-                                                  float pressure_alt, float temperature,
-                                                  quint32 fields_updated);
-
-    void sensorHilOpticalFlowChanged(quint64 time_us, qint16 flow_x, qint16 flow_y, float flow_comp_m_x,
-                                     float flow_comp_m_y, quint8 quality, float ground_distance);
-    
-    /** @brief Remote host and port changed */
-    void remoteChanged(const QString& hostPort);
-
-    /** @brief Status text message from link */
-    void statusMessage(const QString& message);
-
-    /** @brief Airframe changed */
-    void airframeChanged(const QString& airframe);
-
-    /** @brief Selected sim version changed */
-    void versionChanged(const QString& version);
-
-    /** @brief Selected sim version changed */
-    void versionChanged(const int version);
-
-    /** @brief Sensor leve HIL state changed */
-    void sensorHilChanged(bool enabled);
-
-    /** @brief Helper signal to force execution on the correct thread */
-    void _invokeWriteBytes(QByteArray);
-};
-

src/comm/QGCJSBSimLink.h

-/****************************************************************************
- *
- * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-
-/**
- * @file
- *   @brief UDP connection (server) for unmanned vehicles
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#pragma once
-
-#include <QString>
-#include <QList>
-#include <QMap>
-#include <QMutex>
-#include <QUdpSocket>
-#include <QTimer>
-#include <QProcess>
-#include <LinkInterface.h>
-#include "QGCConfig.h"
-#include "QGCHilLink.h"
-#include "Vehicle.h"
-
-class QGCJSBSimLink : public QGCHilLink
-{
-    Q_OBJECT
-    //Q_INTERFACES(QGCJSBSimLinkInterface:LinkInterface)
-
-public:
-    QGCJSBSimLink(Vehicle* vehicle, QString startupArguments, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005);
-    ~QGCJSBSimLink();
-
-    bool isConnected();
-    qint64 bytesAvailable();
-    int getPort() const {
-        return port;
-    }
-
-    /**
-     * @brief The human readable port name
-     */
-    QString getName();
-
-    /**
-     * @brief Get remote host and port
-     * @return string in format <host>:<port>
-     */
-    QString getRemoteHost();
-
-    QString getVersion()
-    {
-        return QString("FlightGear %1").arg(flightGearVersion);
-    }
-
-    int getAirFrameIndex()
-    {
-        return -1;
-    }
-
-    void run();
-
-    bool sensorHilEnabled() {
-        return _sensorHilEnabled;
-    }
-
-public slots:
-//    void setAddress(QString address);
-    void setPort(int port);
-    /** @brief Add a new host to broadcast messages to */
-    void setRemoteHost(const QString& host);
-    /** @brief Send new control states to the simulation */
-    void updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode);
-//    /** @brief Remove a host from broadcasting messages to */
-//    void removeHost(const QString& host);
-    //    void readPendingDatagrams();
-    void processError(QProcess::ProcessError err);
-    /** @brief Set the simulator version as text string */
-    void setVersion(const QString& version)
-    {
-        Q_UNUSED(version);
-    }
-
-    void selectAirframe(const QString& airframe)
-    {
-        script = airframe;
-    }
-
-    void enableSensorHIL(bool enable) {
-        if (enable != _sensorHilEnabled) {
-            _sensorHilEnabled = enable;
-            emit sensorHilChanged(enable);
-        }
-    }
-
-    void readBytes();
-
-private slots:
-    /**
-     * @brief Write a number of bytes to the interface.
-     *
-     * @param data Pointer to the data byte array
-     * @param size The size of the bytes array
-     **/
-    void _writeBytes(const QByteArray data);
-
-public slots:
-    bool connectSimulation();
-    bool disconnectSimulation();
-
-    void setStartupArguments(QString startupArguments);
-
-private:
-    Vehicle*    _vehicle;
-    QString name;
-    QHostAddress host;
-    QHostAddress currentHost;
-    quint16 currentPort;
-    quint16 port;
-    int id;
-    QUdpSocket* socket;
-    bool connectState;
-
-    quint64 bitsSentTotal;
-    quint64 bitsSentCurrent;
-    quint64 bitsSentMax;
-    quint64 bitsReceivedTotal;
-    quint64 bitsReceivedCurrent;
-    quint64 bitsReceivedMax;
-    quint64 connectionStartTime;
-    QMutex statisticsMutex;
-    QMutex dataMutex;
-    QTimer refreshTimer;
-    QProcess* process;
-    unsigned int flightGearVersion;
-    QString startupArguments;
-    QString script;
-    bool _sensorHilEnabled;
-
-    void setName(QString name);
-};
-

src/comm/QGCXPlaneLink.h

-/****************************************************************************
- *
- * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-
-/**
- * @file QGCXPlaneLink.h
- *   @brief X-Plane simulation link
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#pragma once
-
-#include <QString>
-#include <QList>
-#include <QMap>
-#include <QMutex>
-#include <QUdpSocket>
-#include <QTimer>
-#include <QProcess>
-#include <LinkInterface.h>
-#include "QGCConfig.h"
-#include "QGCHilLink.h"
-#include "Vehicle.h"
-
-class QGCXPlaneLink : public QGCHilLink
-{
-    Q_OBJECT
-    //Q_INTERFACES(QGCXPlaneLinkInterface:LinkInterface)
-
-public:
-    QGCXPlaneLink(Vehicle* vehicle, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress localHost = QHostAddress::Any, quint16 localPort = 49005);
-    ~QGCXPlaneLink();
-
-    /**
-     * @brief Load X-Plane HIL settings
-     */
-    void loadSettings();
-
-    /**
-     * @brief Store X-Plane HIL settings
-     */
-    void storeSettings();
-
-    bool isConnected();
-    qint64 bytesAvailable();
-    int getPort() const {
-        return localPort;
-    }
-
-    /**
-     * @brief The human readable port name
-     */
-    QString getName();
-
-    void run();
-
-    /**
-     * @brief Get remote host and port
-     * @return string in format <host>:<port>
-     */
-    QString getRemoteHost();
-
-    enum AIRFRAME
-    {
-        AIRFRAME_UNKNOWN = 0,
-        AIRFRAME_QUAD_DJI_F450_PWM,
-        AIRFRAME_QUAD_X_MK_10INCH_I2C,
-        AIRFRAME_QUAD_X_ARDRONE,
-        AIRFRAME_FIXED_WING_BIXLER_II,
-        AIRFRAME_FIXED_WING_BIXLER_II_AILERONS
-    };
-
-    QString getVersion()
-    {
-        return QString("X-Plane %1").arg(xPlaneVersion);
-    }
-
-    int getAirFrameIndex()
-    {
-        return (int)airframeID;
-    }
-
-    bool sensorHilEnabled() {
-        return _sensorHilEnabled;
-    }
-
-    bool useHilActuatorControls() {
-        return _useHilActuatorControls;
-    }
-
-signals:
-    /** @brief Sensor leve HIL state changed */
-    void useHilActuatorControlsChanged(bool enabled);
-
-public slots:
-//    void setAddress(QString address);
-    void setPort(int port);
-    /** @brief Add a new host to broadcast messages to */
-    void setRemoteHost(const QString& host);
-    /** @brief Send new control states to the simulation */
-    void updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode);
-    /** @brief Send new control commands to the simulation */
-    void updateActuatorControls(quint64 time, quint64 flags,
-                                float ctl_0,
-                                float ctl_1,
-                                float ctl_2,
-                                float ctl_3,
-                                float ctl_4,
-                                float ctl_5,
-                                float ctl_6,
-                                float ctl_7,
-                                float ctl_8,
-                                float ctl_9,
-                                float ctl_10,
-                                float ctl_11,
-                                float ctl_12,
-                                float ctl_13,
-                                float ctl_14,
-                                float ctl_15,
-                                quint8 mode);
-    /** @brief Set the simulator version as text string */
-    void setVersion(const QString& version);
-    /** @brief Set the simulator version as integer */
-    void setVersion(unsigned int version);
-
-    void enableSensorHIL(bool enable) {
-        if (enable != _sensorHilEnabled) {
-            _sensorHilEnabled = enable;
-            emit sensorHilChanged(enable);
-        }
-    }
-
-    void enableHilActuatorControls(bool enable);
-
-    void processError(QProcess::ProcessError err);
-
-    void readBytes();
-
-private slots:
-    /**
-     * @brief Write a number of bytes to the interface.
-     *
-     * @param data Pointer to the data byte array
-     * @param size The size of the bytes array
-     **/
-    void _writeBytes(const QByteArray data);
-
-public slots:
-    bool connectSimulation();
-    bool disconnectSimulation();
-    /**
-     * @brief Select airplane model
-     * @param plane the name of the airplane
-     */
-    void selectAirframe(const QString& airframe);
-    /**
-     * @brief Set the airplane position and attitude
-     * @param lat
-     * @param lon
-     * @param alt
-     * @param roll
-     * @param pitch
-     * @param yaw
-     */
-    void setPositionAttitude(double lat, double lon, double alt, double roll, double pitch, double yaw);
-
-    /**
-     * @brief Set a random position
-     */
-    void setRandomPosition();
-
-    /**
-     * @brief Set a random attitude
-     */
-    void setRandomAttitude();
-
-protected:
-    Vehicle* _vehicle;
-    QString name;
-    QHostAddress localHost;
-    quint16 localPort;
-    QHostAddress remoteHost;
-    quint16 remotePort;
-    int id;
-    QUdpSocket* socket;
-    bool connectState;
-
-    quint64 bitsSentTotal;
-    quint64 bitsSentCurrent;
-    quint64 bitsSentMax;
-    quint64 bitsReceivedTotal;
-    quint64 bitsReceivedCurrent;
-    quint64 bitsReceivedMax;
-    quint64 connectionStartTime;
-    QMutex statisticsMutex;
-    QMutex dataMutex;
-    QTimer refreshTimer;
-    QProcess* process;
-    QProcess* terraSync;
-
-    bool gpsReceived;
-    bool attitudeReceived;
-
-    float roll, pitch, yaw, rollspeed, pitchspeed, yawspeed;
-    double lat, lon, alt, alt_agl;
-    float vx, vy, vz, xacc, yacc, zacc;
-    float ind_airspeed;
-    float true_airspeed;
-    float groundspeed;
-    float xmag, ymag, zmag, abs_pressure, diff_pressure, pressure_alt, temperature;
-    float barometerOffsetkPa;
-
-    float man_roll, man_pitch, man_yaw;
-    QString airframeName;
-    enum AIRFRAME airframeID;
-    bool xPlaneConnected;
-    unsigned int xPlaneVersion;
-    quint64 simUpdateLast;
-    quint64 simUpdateFirst;
-    quint64 simUpdateLastText;
-    quint64 simUpdateLastGroundTruth;
-    float simUpdateHz;
-    bool _sensorHilEnabled;
-    bool _useHilActuatorControls;
-    bool _should_exit;
-
-    void setName(QString name);
-    void sendDataRef(QString ref, float value);
-};
-

src/uas/UAS.h

@@ -22,9 +22,6 @@
 
 #ifndef __mobile__
 #include "FileManager.h"
-#include "QGCHilLink.h"
-#include "QGCJSBSimLink.h"
-#include "QGCXPlaneLink.h"
 #endif
 
 Q_DECLARE_LOGGING_CATEGORY(UASLog)
@@ -181,11 +178,6 @@ protected:
     float pressure_alt_var;     ///< variance of altitude pressure noise for HIL sim (hPa)
     float temperature_var;      ///< variance of temperature noise for HIL sim (C)
 
-    /// SIMULATION
-#ifndef __mobile__
-    QGCHilLink* simulation;         ///< Hardware in the loop simulation link
-#endif
-
 public:
     /** @brief Get the human-readable status message for this code */
     void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
@@ -194,13 +186,6 @@ public:
     virtual FileManager* getFileManager() { return &fileManager; }
 #endif
 
-    /** @brief Get the HIL simulation */
-#ifndef __mobile__
-    QGCHilLink* getHILSimulation() const {
-        return simulation;
-    }
-#endif
-
     QImage getImage();
     void requestImage();
 
@@ -208,52 +193,6 @@ public slots:
     /** @brief Order the robot to pair its receiver **/
     void pairRX(int rxType, int rxSubType);
 
-    /** @brief Enable / disable HIL */
-#ifndef __mobile__
-    void enableHilJSBSim(bool enable, QString options);
-    void enableHilXPlane(bool enable);
-
-    /** @brief Send the full HIL state to the MAV */
-    void sendHilState(quint64 time_us, float roll, float pitch, float yaw, float rollRotationRate,
-                        float pitchRotationRate, float yawRotationRate, double lat, double lon, double alt,
-                        float vx, float vy, float vz, float ind_airspeed, float true_airspeed, float xacc, float yacc, float zacc);
-
-    void sendHilGroundTruth(quint64 time_us, float roll, float pitch, float yaw, float rollRotationRate,
-                        float pitchRotationRate, float yawRotationRate, double lat, double lon, double alt,
-                        float vx, float vy, float vz, float ind_airspeed, float true_airspeed, float xacc, float yacc, float zacc);
-
-    /** @brief RAW sensors for sensor HIL */
-    void sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, float rollspeed, float pitchspeed, float yawspeed,
-                        float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, quint32 fields_changed);
-
-    /** @brief Send Optical Flow sensor message for HIL, (arguments and units accoding to mavlink documentation*/
-    void sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, float flow_comp_m_x,
-                            float flow_comp_m_y, quint8 quality, float ground_distance);
-
-    float addZeroMeanNoise(float truth_meas, float noise_var);
-
-    /**
-     * @param time_us
-     * @param lat
-     * @param lon
-     * @param alt
-     * @param fix_type
-     * @param eph
-     * @param epv
-     * @param vel
-     * @param cog course over ground, in radians, -pi..pi
-     * @param satellites
-     */
-    void sendHilGps(quint64 time_us, double lat, double lon, double alt, int fix_type, float eph, float epv, float vel, float vn, float ve, float vd,  float cog, int satellites);
-
-
-    /** @brief Places the UAV in Hardware-in-the-Loop simulation status **/
-    void startHil();
-
-    /** @brief Stops the UAV's Hardware-in-the-Loop simulation status **/
-    void stopHil();
-#endif
-
     /** @brief Set the values for the manual control of the vehicle */
     void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode);
 
@@ -280,8 +219,6 @@ signals:
     void imageStarted(quint64 timestamp);
     /** @brief A new camera image has arrived */
     void imageReady(UASInterface* uas);
-    /** @brief HIL controls have changed */
-    void hilControlsChanged(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode);
 
     void rollChanged(double val,QString name);
     void pitchChanged(double val,QString name);
@@ -305,11 +242,6 @@ protected:
     quint64 lastVoltageWarning; ///< Time at which the last voltage warning occurred
     quint64 lastNonNullTime;    ///< The last timestamp from the MAV that was not null
     unsigned int onboardTimeOffsetInvalidCount;     ///< Count when the offboard time offset estimation seemed wrong
-    bool hilEnabled;
-    bool sensorHil;             ///< True if sensor HIL is enabled
-    quint64 lastSendTimeGPS;     ///< Last HIL GPS message sent
-    quint64 lastSendTimeSensors; ///< Last HIL Sensors message sent
-    quint64 lastSendTimeOpticalFlow; ///< Last HIL Optical Flow message sent
 
 private:
     Vehicle*                _vehicle;

src/uas/UASInterface.h

@@ -82,24 +82,6 @@ public slots:
     /** @brief Order the robot to pair its receiver **/
     virtual void pairRX(int rxType, int rxSubType) = 0;
 
-    /** @brief Send the full HIL state to the MAV */
-#ifndef __mobile__
-    virtual void sendHilState(quint64 time_us, float roll, float pitch, float yaw, float rollspeed,
-                        float pitchspeed, float yawspeed, double lat, double lon, double alt,
-                        float vx, float vy, float vz, float ind_airspeed, float true_airspeed, float xacc, float yacc, float zacc) = 0;
-
-    /** @brief RAW sensors for sensor HIL */
-    virtual void sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, float rollspeed, float pitchspeed, float yawspeed,
-                                float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, quint32 fields_changed) = 0;
-
-    /** @brief Send raw GPS for sensor HIL */
-    virtual void sendHilGps(quint64 time_us, double lat, double lon, double alt, int fix_type, float eph, float epv, float vel, float vn, float ve, float vd, float cog, int satellites) = 0;
-
-    /** @brief Send Optical Flow sensor message for HIL, (arguments and units accoding to mavlink documentation*/
-    virtual void sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, float flow_comp_m_x,
-                            float flow_comp_m_y, quint8 quality, float ground_distance) = 0;
-#endif
-
     /** @brief Send command to map a RC channel to a parameter */
     virtual void sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax) = 0;