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Remove handling of MAVLINK_MSG_ID_SET_HOME_POSITION #20705

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merged 4 commits into from May 9, 2022
Merged

Remove handling of MAVLINK_MSG_ID_SET_HOME_POSITION #20705

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e20a6e7
ArduCopter: remove handling of MAVLINK_MSG_ID_SET_HOME_POSITION
peterbarker May 6, 2022
8a97517
ArduPlane: remove handling of MAVLINK_MSG_ID_SET_HOME_POSITION
peterbarker May 6, 2022
fa293f3
ArduSub: remove handling of MAVLINK_MSG_ID_SET_HOME_POSITION
peterbarker May 6, 2022
27077e1
Blimp: remove handling of MAVLINK_MSG_ID_SET_HOME_POSITION
peterbarker May 6, 2022
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18 changes: 0 additions & 18 deletions ArduCopter/GCS_Mavlink.cpp
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Expand Up @@ -1394,24 +1394,6 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
#endif
break;

case MAVLINK_MSG_ID_SET_HOME_POSITION:
{
send_received_message_deprecation_warning(STR_VALUE(MAVLINK_MSG_ID_SET_HOME_POSITION));

mavlink_set_home_position_t packet;
mavlink_msg_set_home_position_decode(&msg, &packet);
if ((packet.latitude == 0) && (packet.longitude == 0) && (packet.altitude == 0)) {
IGNORE_RETURN(copter.set_home_to_current_location(true));
} else {
Location new_home_loc;
new_home_loc.lat = packet.latitude;
new_home_loc.lng = packet.longitude;
new_home_loc.alt = packet.altitude / 10;
IGNORE_RETURN(copter.set_home(new_home_loc, true));
}
break;
}

#if TOY_MODE_ENABLED == ENABLED
case MAVLINK_MSG_ID_NAMED_VALUE_INT:
copter.g2.toy_mode.handle_message(msg);
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17 changes: 0 additions & 17 deletions ArduPlane/GCS_Mavlink.cpp
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Expand Up @@ -1232,23 +1232,6 @@ void GCS_MAVLINK_Plane::handleMessage(const mavlink_message_t &msg)
break;
}

case MAVLINK_MSG_ID_SET_HOME_POSITION:
{
send_received_message_deprecation_warning(STR_VALUE(MAVLINK_MSG_ID_SET_HOME_POSITION));

mavlink_set_home_position_t packet;
mavlink_msg_set_home_position_decode(&msg, &packet);
Location new_home_loc {};
new_home_loc.lat = packet.latitude;
new_home_loc.lng = packet.longitude;
new_home_loc.alt = packet.altitude / 10;
if (!set_home(new_home_loc, false)) {
// silently fails...
break;
}
break;
}

case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
{
// decode packet
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22 changes: 0 additions & 22 deletions ArduSub/GCS_Mavlink.cpp
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Expand Up @@ -718,28 +718,6 @@ void GCS_MAVLINK_Sub::handleMessage(const mavlink_message_t &msg)
#endif
break;

case MAVLINK_MSG_ID_SET_HOME_POSITION: {
send_received_message_deprecation_warning(STR_VALUE(MAVLINK_MSG_ID_SET_HOME_POSITION));

mavlink_set_home_position_t packet;
mavlink_msg_set_home_position_decode(&msg, &packet);
if ((packet.latitude == 0) && (packet.longitude == 0) && (packet.altitude == 0)) {
if (!sub.set_home_to_current_location(true)) {
// ignore this failure
}
} else {
Location new_home_loc;
new_home_loc.lat = packet.latitude;
new_home_loc.lng = packet.longitude;
new_home_loc.alt = packet.altitude / 10;
if (sub.far_from_EKF_origin(new_home_loc)) {
break;
}
IGNORE_RETURN(sub.set_home(new_home_loc, true));
}
break;
}

// This adds support for leak detectors in a separate enclosure
// connected to a mavlink enabled subsystem
case MAVLINK_MSG_ID_SYS_STATUS: {
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15 changes: 0 additions & 15 deletions Blimp/GCS_Mavlink.cpp
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Expand Up @@ -538,21 +538,6 @@ void GCS_MAVLINK_Blimp::handleMessage(const mavlink_message_t &msg)
case MAVLINK_MSG_ID_TERRAIN_CHECK:
break;

case MAVLINK_MSG_ID_SET_HOME_POSITION: {
mavlink_set_home_position_t packet;
mavlink_msg_set_home_position_decode(&msg, &packet);
if ((packet.latitude == 0) && (packet.longitude == 0) && (packet.altitude == 0)) {
IGNORE_RETURN(blimp.set_home_to_current_location(true));
} else {
Location new_home_loc;
new_home_loc.lat = packet.latitude;
new_home_loc.lng = packet.longitude;
new_home_loc.alt = packet.altitude / 10;
IGNORE_RETURN(blimp.set_home(new_home_loc, true));
}
break;
}

default:
handle_common_message(msg);
break;
Expand Down