Copter: remove deprecated Guided-Spline

Guided-Spline has been replaced by Guided-PosVel

ArduCopter/control_guided.pde

@@ -117,27 +117,6 @@ static void guided_posvel_control_start()
     set_auto_yaw_mode(AUTO_YAW_HOLD);
 }
 
-// initialise guided mode's spline controller
-static void guided_spline_control_start()
-{
-    // set guided_mode to velocity controller
-    guided_mode = Guided_Spline;
-
-    // initialise waypoint and spline controller
-    wp_nav.wp_and_spline_init();
-
-    // initialise wpnav to stopping point at current altitude
-    // To-Do: set to current location if disarmed?
-    // To-Do: set to stopping point altitude?
-    Vector3f stopping_point;
-    stopping_point.z = inertial_nav.get_altitude();
-    wp_nav.get_wp_stopping_point_xy(stopping_point);
-    wp_nav.set_wp_destination(stopping_point);
-
-    // initialise yaw
-    set_auto_yaw_mode(get_default_auto_yaw_mode(false));
-}
-
 // guided_set_destination - sets guided mode's target destination
 static void guided_set_destination(const Vector3f& destination)
 {
@@ -175,16 +154,6 @@ static void guided_set_destination_posvel(const Vector3f& destination, const Vec
     pos_control.set_pos_target(posvel_pos_target_cm);
 }
 
-// set guided mode spline target
-static void guided_set_destination_spline(const Vector3f& destination, const Vector3f& velocity) {
-    // check we are in velocity control mode
-    if (guided_mode != Guided_Spline) {
-        guided_spline_control_start();
-    }
-
-    wp_nav.set_spline_dest_and_vel(destination, velocity);
-}
-
 // guided_run - runs the guided controller
 // should be called at 100hz or more
 static void guided_run()
@@ -217,11 +186,6 @@ static void guided_run()
         guided_vel_control_run();
         break;
 
-    case Guided_Spline:
-        // run spline controller
-        guided_spline_control_run();
-        break;
-
     case Guided_PosVel:
         // run position-velocity controller
         guided_posvel_control_run();
@@ -362,36 +326,6 @@ static void guided_posvel_control_run()
     }
 }
 
-// guided_spline_control_run - runs the guided spline controller
-// called from guided_run
-static void guided_spline_control_run()
-{
-    // process pilot's yaw input
-    float target_yaw_rate = 0;
-    if (!failsafe.radio) {
-        // get pilot's desired yaw rate
-        target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
-        if (target_yaw_rate != 0) {
-            set_auto_yaw_mode(AUTO_YAW_HOLD);
-        }
-    }
-
-    // run waypoint controller
-    wp_nav.update_spline();
-
-    // call z-axis position controller (wpnav should have already updated it's alt target)
-    pos_control.update_z_controller();
-
-    // call attitude controller
-    if (auto_yaw_mode == AUTO_YAW_HOLD) {
-        // roll & pitch from waypoint controller, yaw rate from pilot
-        attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
-    }else{
-        // roll, pitch from waypoint controller, yaw heading from auto_heading()
-        attitude_control.angle_ef_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(), true);
-    }
-}
-
 // Guided Limit code
 
 // guided_limit_clear - clear/turn off guided limits

ArduCopter/defines.h

@@ -189,7 +189,6 @@ enum GuidedMode {
     Guided_TakeOff,
     Guided_WP,
     Guided_Velocity,
-    Guided_Spline,
     Guided_PosVel
 };