Copter:Removed the XRCE implementations

Removing unwanted changes Removing unwanted changes2 Removing unwanted changes3 AP_XRCE_Client:Improvements in wsrcipt file
ArduPilot · Jul 14, 2021 · ca2728d · ca2728d
1 parent 867ff2f
commit ca2728d
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Showing 5 changed files with 14 additions and 36 deletions.
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -60,14 +60,14 @@
 #include <AP_LandingGear/AP_LandingGear.h>  // Landing Gear library
 #include <AC_InputManager/AC_InputManager.h>        // Pilot input handling library
 #include <AC_InputManager/AC_InputManager_Heli.h>   // Heli specific pilot input handling library
-#include <AP_Arming/AP_Arming.h>
-#include <AP_SmartRTL/AP_SmartRTL.h>
-#include <AP_TempCalibration/AP_TempCalibration.h>
-#include <AC_AutoTune/AC_AutoTune.h>
-#include <AP_Parachute/AP_Parachute.h>
-#include <AC_Sprayer/AC_Sprayer.h>
-#include <AP_ADSB/AP_ADSB.h>
-#include <AP_Proximity/AP_Proximity.h>
+#include <AP_Arming/AP_Arming.h>            // ArduPilot motor arming library
+#include <AP_SmartRTL/AP_SmartRTL.h>        // ArduPilot Smart Return To Launch Mode (SRTL) library
+#include <AP_TempCalibration/AP_TempCalibration.h>  // temperature calibration library
+#include <AC_AutoTune/AC_AutoTune.h>        // ArduCopter autotune library. support for autotune of multirotors.
+#include <AP_Parachute/AP_Parachute.h>      // ArduPilot parachute release library
+#include <AC_Sprayer/AC_Sprayer.h>          // Crop sprayer library
+#include <AP_ADSB/AP_ADSB.h>                // ADS-B RF based collision avoidance module library
+#include <AP_Proximity/AP_Proximity.h>      // ArduPilot proximity sensor library
 
 // Configuration
 #include "defines.h"

diff --git a/ArduCopter/xrce-client.cpp b/ArduCopter/xrce-client.cpp
diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -65,7 +65,7 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
 };
 
 // reference to the vehicle. using AP::vehicle() here does not work on clang
-#if APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
+#if APM_BUILD_TYPE(APM_BUILD_UNKNOWN) || APM_BUILD_TYPE(APM_BUILD_AP_Periph)
 AP_Vehicle& vehicle = *AP_Vehicle::get_singleton();
 #else
 extern AP_Vehicle& vehicle;

diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -245,6 +245,11 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
     AP_Frsky_Parameters frsky_parameters;
 #endif
 
+    /*
+      Returns the pan and tilt for use by onvif camera in scripting
+     */
+    virtual bool get_pan_tilt_norm(float &pan_norm, float &tilt_norm) const { return false; }
+
 protected:
 
     virtual void init_ardupilot() = 0;

diff --git a/wscript b/wscript
@@ -628,9 +628,6 @@ def _build_recursion(bld):
     if bld.env.ENABLE_ONVIF:
         dirs_to_recurse.append('libraries/AP_ONVIF')
 
-    if bld.env.ENABLE_XRCE_DDS:
-        dirs_to_recurse.append('libraries/AP_XRCE_Client')
-
     for p in hal_dirs_patterns:
         dirs_to_recurse += collect_dirs_to_recurse(
             bld,