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Plane: remove unused definitions #29210

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merged 3 commits into from
Feb 3, 2025
Merged

Plane: remove unused definitions #29210

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2bc623a
Plane: plane.h: remove unused definitions
IamPete1 Feb 2, 2025
3e42b40
Plane: remove unused method `set_target_altitude_current_adjusted`
IamPete1 Feb 2, 2025
98bb1a2
Plane: takeoff: use `tkoff_option_is_set` helper
IamPete1 Feb 2, 2025
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16 changes: 0 additions & 16 deletions ArduPlane/Plane.h
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Original file line number Diff line number Diff line change
Expand Up @@ -347,10 +347,6 @@ class Plane : public AP_Vehicle {
// time of last mode change
uint32_t last_mode_change_ms;

// Used to maintain the state of the previous control switch position
// This is set to 254 when we need to re-read the switch
uint8_t oldSwitchPosition = 254;

// This is used to enable the inverted flight feature
bool inverted_flight;

Expand Down Expand Up @@ -758,8 +754,6 @@ class Plane : public AP_Vehicle {
// A starting value used to check the status of a conditional command.
// For example in a delay command the condition_start records that start time for the delay
uint32_t condition_start;
// A value used in condition commands. For example the rate at which to change altitude.
int16_t condition_rate;

// 3D Location vectors
// Location structure defined in AP_Common
Expand Down Expand Up @@ -808,8 +802,6 @@ class Plane : public AP_Vehicle {

float relative_altitude;

// loop performance monitoring:
AP::PerfInfo perf_info;
struct {
uint32_t last_trim_check;
uint32_t last_trim_save;
Expand Down Expand Up @@ -904,7 +896,6 @@ class Plane : public AP_Vehicle {
float relative_ground_altitude(bool use_rangefinder_if_available);
float relative_ground_altitude(bool use_rangefinder_if_available, bool use_terrain_if_available);
void set_target_altitude_current(void);
void set_target_altitude_current_adjusted(void);
void set_target_altitude_location(const Location &loc);
int32_t relative_target_altitude_cm(void);
void change_target_altitude(int32_t change_cm);
Expand Down Expand Up @@ -1042,13 +1033,10 @@ class Plane : public AP_Vehicle {
bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;

// control_modes.cpp
void read_control_switch();
uint8_t readSwitch(void) const;
void autotune_start(void);
void autotune_restore(void);
void autotune_enable(bool enable);
bool fly_inverted(void);
bool mode_allows_autotuning(void);
uint8_t get_mode() const override { return (uint8_t)control_mode->mode_number(); }
Mode *mode_from_mode_num(const enum Mode::Number num);
bool current_mode_requires_mission() const override {
Expand Down Expand Up @@ -1077,7 +1065,6 @@ class Plane : public AP_Vehicle {
bool trigger_land_abort(const float climb_to_alt_m);
void get_osd_roll_pitch_rad(float &roll, float &pitch) const override;
float tecs_hgt_afe(void);
void efi_update(void);
void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
uint8_t &task_count,
uint32_t &log_bit) override;
Expand Down Expand Up @@ -1113,7 +1100,6 @@ class Plane : public AP_Vehicle {
void calc_gndspeed_undershoot();
void update_loiter(uint16_t radius);
void update_loiter_update_nav(uint16_t radius);
void update_cruise();
void update_fbwb_speed_height(void);
void setup_turn_angle(void);
bool reached_loiter_target(void);
Expand Down Expand Up @@ -1168,7 +1154,6 @@ class Plane : public AP_Vehicle {
float apply_throttle_limits(float throttle_in);
void set_throttle(void);
void set_takeoff_expected(void);
void set_servos_old_elevons(void);
void set_servos_flaps(void);
void set_landing_gear(void);
void dspoiler_update(void);
Expand Down Expand Up @@ -1196,7 +1181,6 @@ class Plane : public AP_Vehicle {
// parachute.cpp
void parachute_check();
#if HAL_PARACHUTE_ENABLED
void do_parachute(const AP_Mission::Mission_Command& cmd);
void parachute_release();
bool parachute_manual_release();
#endif
Expand Down
11 changes: 0 additions & 11 deletions ArduPlane/altitude.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -208,17 +208,6 @@ void Plane::set_target_altitude_current(void)
#endif
}

/*
set the target altitude to the current altitude, with ALT_OFFSET adjustment
*/
void Plane::set_target_altitude_current_adjusted(void)
{
set_target_altitude_current();

// use adjusted_altitude_cm() to take account of ALTITUDE_OFFSET
target_altitude.amsl_cm = adjusted_altitude_cm();
}

/*
set target altitude based on a location structure
*/
Expand Down
2 changes: 1 addition & 1 deletion ArduPlane/takeoff.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -285,7 +285,7 @@ void Plane::takeoff_calc_throttle() {
const float current_baro_alt = barometer.get_altitude();
const bool below_lvl_alt = current_baro_alt < auto_state.baro_takeoff_alt + mode_takeoff.level_alt;
// Set the minimum throttle limit.
const bool use_throttle_range = (aparm.takeoff_options & (uint32_t)AP_FixedWing::TakeoffOption::THROTTLE_RANGE);
const bool use_throttle_range = tkoff_option_is_set(AP_FixedWing::TakeoffOption::THROTTLE_RANGE);
if (!use_throttle_range // We don't want to employ a throttle range.
|| !ahrs.using_airspeed_sensor() // We don't have an airspeed sensor.
|| below_lvl_alt // We are below TKOFF_LVL_ALT.
Expand Down
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