Drop the old HIL

src/main/CMakeLists.txt

@@ -302,8 +302,6 @@ main_sources(COMMON_SRC
 
     flight/failsafe.c
     flight/failsafe.h
-    flight/hil.c
-    flight/hil.h
     flight/imu.c
     flight/imu.h
     flight/kalman.c

src/main/fc/fc_core.c

@@ -927,13 +927,6 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     // Calculate stabilisation
     pidController(dT);
 
-#ifdef HIL
-    if (hilActive) {
-        hilUpdateControlState();
-        motorControlEnable = false;
-    }
-#endif
-
     mixTable();
 
     if (isMixerUsingServos()) {

src/main/fc/fc_msp.c

@@ -72,7 +72,6 @@
 
 #include "flight/failsafe.h"
 #include "flight/imu.h"
-#include "flight/hil.h"
 #include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/servos.h"
@@ -398,15 +397,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteData(dst, shortGitRevision, GIT_SHORT_REVISION_LENGTH);
         break;
 
-#ifdef HIL
-    case MSP_HIL_STATE:
-        sbufWriteU16(dst, hilToSIM.pidCommand[ROLL]);
-        sbufWriteU16(dst, hilToSIM.pidCommand[PITCH]);
-        sbufWriteU16(dst, hilToSIM.pidCommand[YAW]);
-        sbufWriteU16(dst, hilToSIM.pidCommand[THROTTLE]);
-        break;
-#endif
-
     case MSP_SENSOR_STATUS:
         sbufWriteU8(dst, isHardwareHealthy() ? 1 : 0);
         sbufWriteU8(dst, getHwGyroStatus());

src/main/flight/imu.c

@@ -47,7 +47,6 @@ FILE_COMPILE_FOR_SPEED
 #include "fc/runtime_config.h"
 #include "fc/settings.h"
 
-#include "flight/hil.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
 #include "flight/pid.h"
@@ -194,7 +193,7 @@ void imuTransformVectorEarthToBody(fpVector3_t * v)
     quaternionRotateVector(v, v, &orientation);
 }
 
-#if defined(USE_GPS) || defined(HIL)
+#if defined(USE_GPS)
 STATIC_UNIT_TESTED void imuComputeQuaternionFromRPY(int16_t initialRoll, int16_t initialPitch, int16_t initialYaw)
 {
     if (initialRoll > 1800) initialRoll -= 3600;
@@ -585,37 +584,12 @@ static void imuCalculateEstimatedAttitude(float dT)
     imuUpdateEulerAngles();
 }
 
-#ifdef HIL
-void imuHILUpdate(void)
-{
-    /* Set attitude */
-    attitude.values.roll = hilToFC.rollAngle;
-    attitude.values.pitch = hilToFC.pitchAngle;
-    attitude.values.yaw = hilToFC.yawAngle;
-
-    /* Compute rotation quaternion for future use */
-    imuComputeQuaternionFromRPY(attitude.values.roll, attitude.values.pitch, attitude.values.yaw);
-
-    /* Fake accADC readings */
-    accADCf[X] = hilToFC.bodyAccel[X] / GRAVITY_CMSS;
-    accADCf[Y] = hilToFC.bodyAccel[Y] / GRAVITY_CMSS;
-    accADCf[Z] = hilToFC.bodyAccel[Z] / GRAVITY_CMSS;
-}
-#endif
-
 void imuUpdateAccelerometer(void)
 {
-#ifdef HIL
-    if (sensors(SENSOR_ACC) && !hilActive) {
-        accUpdate();
-        isAccelUpdatedAtLeastOnce = true;
-    }
-#else
     if (sensors(SENSOR_ACC)) {
         accUpdate();
         isAccelUpdatedAtLeastOnce = true;
     }
-#endif
 }
 
 void imuCheckVibrationLevels(void)
@@ -640,23 +614,10 @@ void imuUpdateAttitude(timeUs_t currentTimeUs)
     previousIMUUpdateTimeUs = currentTimeUs;
 
     if (sensors(SENSOR_ACC) && isAccelUpdatedAtLeastOnce) {
-#ifdef HIL
-        if (!hilActive) {
-            gyroGetMeasuredRotationRate(&imuMeasuredRotationBF);    // Calculate gyro rate in body frame in rad/s
-            accGetMeasuredAcceleration(&imuMeasuredAccelBF);  // Calculate accel in body frame in cm/s/s
-            imuCheckVibrationLevels();
-            imuCalculateEstimatedAttitude(dT);  // Update attitude estimate
-        }
-        else {
-            imuHILUpdate();
-            imuUpdateMeasuredAcceleration();
-        }
-#else
         gyroGetMeasuredRotationRate(&imuMeasuredRotationBF);    // Calculate gyro rate in body frame in rad/s
         accGetMeasuredAcceleration(&imuMeasuredAccelBF);  // Calculate accel in body frame in cm/s/s
         imuCheckVibrationLevels();
         imuCalculateEstimatedAttitude(dT);  // Update attitude estimate
-#endif
     } else {
         acc.accADCf[X] = 0.0f;
         acc.accADCf[Y] = 0.0f;

src/main/sensors/barometer.c

@@ -50,8 +50,6 @@
 #include "sensors/barometer.h"
 #include "sensors/sensors.h"
 
-#include "flight/hil.h"
-
 #ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"
 #endif
@@ -318,12 +316,6 @@ int32_t baroCalculateAltitude(void)
         baro.BaroAlt = 0;
     }
     else {
-#ifdef HIL
-        if (hilActive) {
-            baro.BaroAlt = hilToFC.baroAlt;
-            return baro.BaroAlt;
-        }
-#endif
         // calculates height from ground via baro readings
         baro.BaroAlt = pressureToAltitude(baro.baroPressure) - baroGroundAltitude;
    }

src/main/target/ANYFC/target.h

@@ -100,8 +100,6 @@
 #define I2C_DEVICE_2_SHARES_UART3
 //#define USE_I2C_PULLUP
 
-//#define HIL
-
 #define USE_ADC
 #define ADC_CHANNEL_1_PIN               PC0
 #define ADC_CHANNEL_2_PIN               PC1