navigation feature / reference removal

betaflight · May 9, 2018 · de5fa47 · de5fa47
1 parent 3af1610
commit de5fa47
Show file tree

Hide file tree

Showing 19 changed files with 1 addition and 724 deletions.
diff --git a/make/source.mk b/make/source.mk
@@ -135,7 +135,6 @@ FC_SRC = \
             drivers/rangefinder/rangefinder_lidartf.c \
             drivers/serial_escserial.c \
             drivers/vtx_common.c \
-            flight/navigation.c \
             io/dashboard.c \
             io/displayport_max7456.c \
             io/displayport_msp.c \

diff --git a/src/main/fc/config.c b/src/main/fc/config.c
@@ -42,7 +42,6 @@
 #include "flight/failsafe.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
-#include "flight/navigation.h"
 #include "flight/pid.h"
 #include "flight/servos.h"
 
@@ -149,10 +148,6 @@ void activateConfig(void)
     useRcControlsConfig(currentPidProfile);
     useAdjustmentConfig(currentPidProfile);
 
-#ifdef USE_NAV
-    gpsUsePIDs(currentPidProfile);
-#endif
-
     failsafeReset();
     setAccelerationTrims(&accelerometerConfigMutable()->accZero);
     accInitFilters();

diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
@@ -87,7 +87,6 @@
 #include "flight/failsafe.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
-#include "flight/navigation.h"
 #include "flight/pid.h"
 #include "flight/servos.h"
 
@@ -756,13 +755,7 @@ bool processRx(timeUs_t currentTimeUs)
         }
     }
 #endif
-
-#ifdef USE_NAV
-    if (sensors(SENSOR_GPS)) {
-        updateGpsWaypointsAndMode();
-    }
-#endif
-
+
     if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
         ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
     } else {
@@ -889,14 +882,6 @@ static NOINLINE void subTaskMainSubprocesses(timeUs_t currentTimeUs)
 
     processRcCommand();
 
-#ifdef USE_NAV
-    if (sensors(SENSOR_GPS)) {
-        if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
-            updateGpsStateForHomeAndHoldMode();
-        }
-    }
-#endif
-
 #ifdef USE_SDCARD
     afatfs_poll();
 #endif

diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
@@ -148,7 +148,6 @@
 #include "flight/failsafe.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
-#include "flight/navigation.h"
 #include "flight/pid.h"
 #include "flight/servos.h"
 
@@ -662,9 +661,6 @@ void init(void)
 #ifdef USE_GPS
     if (feature(FEATURE_GPS)) {
         gpsInit();
-#ifdef USE_NAV
-        navigationInit();
-#endif
     }
 #endif