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Remove NoFly support #1209

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merged 1 commit into from
Jul 21, 2023
Merged

Remove NoFly support #1209

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68 changes: 0 additions & 68 deletions MAVProxy/modules/mavproxy_map/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -259,7 +259,6 @@ def display_waypoints(self):
items = [MPMenuItem('WP Set', returnkey='popupMissionSet'),
MPMenuItem('WP Remove', returnkey='popupMissionRemove'),
MPMenuItem('WP Move', returnkey='popupMissionMove'),
MPMenuItem('Remove NoFly', returnkey='popupMissionRemoveNoFly'),
]
popup = MPMenuSubMenu('Popup', items)
self.map.add_object(mp_slipmap.SlipPolygon('mission %u' % i, p,
Expand Down Expand Up @@ -375,71 +374,6 @@ def remove_mission(self, key, selection_index):
idx = self.selection_index_to_idx(key, selection_index)
self.mpstate.functions.process_stdin('wp remove %u' % idx)

def validate_nofly(self):
seq_start = None
wploader = self.module('wp').wploader
for x in range(0,wploader.count()):
tmp = wploader.wp(x)
if tmp.seq != x:
print("Indexing error %u" % x)
return False
if tmp.command != mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION:
if seq_start is not None:
print("Invalid sequence starting at %u" % x)
return False
continue
if seq_start is None:
seq_start = tmp

if int(tmp.param1) != int(seq_start.param1):
print("Invalid sequence starting at %u" % seq_start.seq)
return False

if x - seq_start.seq == tmp.param1-1:
# good sequence
seq_start = None

if seq_start is not None:
print("Short nofly polygon list")
return False

return True

def remove_mission_nofly(self, key, selection_index):
'''remove a mission nofly polygon'''
if not self.validate_nofly():
print("NoFly invalid")
return
print("NoFly valid")

idx = self.selection_index_to_idx(key, selection_index)
wploader = self.module('wp').wploader

if idx < 0 or idx >= wploader.count():
print("Invalid wp number %u" % idx)
return
wp = wploader.wp(idx)
if wp.command != mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION:
print("Not an exclusion point (%u)" % idx)
return

# we know the list is valid. Search for the start of the sequence to delete
tmp_idx = idx
while tmp_idx > 0:
tmp = wploader.wp(tmp_idx-1)
if (tmp.command != wp.command or
tmp.param1 != wp.param1):
break
tmp_idx -= 1

start_idx_to_delete = idx - ((idx-tmp_idx)%int(wp.param1))
for i in range(int(start_idx_to_delete+wp.param1)-1,start_idx_to_delete-1,-1):
# remove in reverse order as wploader.remove re-indexes
print("Removing at %u" % i)
deadun = wploader.wp(i)
wploader.remove(deadun)
self.module('wp').send_all_waypoints()

def remove_fencepoint(self, key, selection_index):
'''remove a fence point'''
self.mpstate.functions.process_stdin('fence remove %u' % (selection_index+1))
Expand Down Expand Up @@ -470,8 +404,6 @@ def handle_menu_event(self, obj):
self.move_rally(obj.selected[0].objkey)
elif menuitem.returnkey == 'popupMissionSet':
self.set_mission(obj.selected[0].objkey, obj.selected[0].extra_info)
elif menuitem.returnkey == 'popupMissionRemoveNoFly':
self.remove_mission_nofly(obj.selected[0].objkey, obj.selected[0].extra_info)
elif menuitem.returnkey == 'popupMissionRemove':
self.remove_mission(obj.selected[0].objkey, obj.selected[0].extra_info)
elif menuitem.returnkey == 'popupMissionMove':
Expand Down
29 changes: 0 additions & 29 deletions MAVProxy/modules/mavproxy_wp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,6 @@ def __init__(self, mpstate):
default=100)),
MPMenuItem('Undo', 'Undo', '# wp undo'),
MPMenuItem('Loop', 'Loop', '# wp loop'),
MPMenuItem('Add NoFly', 'Loop', '# wp noflyadd'),
MPMenuItem(
'Add Takeoff', 'Add Takeoff', '# wp add_takeoff ',
handler=MPMenuCallTextDialog(
Expand Down Expand Up @@ -821,8 +820,6 @@ def cmd_wp(self, args):
self.set_home_location()
elif args[0] == "loop":
self.wp_loop()
elif args[0] == "noflyadd":
self.nofly_add()
elif args[0] == "status":
self.wp_status()
elif args[0] == "slope":
Expand Down Expand Up @@ -1141,32 +1138,6 @@ def wp_loop(self):
self.master.waypoint_count_send(self.wploader.count())
print("Closed loop on mission")

def nofly_add(self):
'''add a square flight exclusion zone'''
latlon = self.mpstate.click_location
if latlon is None:
print("No position chosen")
return
loader = self.wploader
(center_lat, center_lon) = latlon
points = []
points.append(mp_util.gps_offset(center_lat, center_lon, -25, 25))
points.append(mp_util.gps_offset(center_lat, center_lon, 25, 25))
points.append(mp_util.gps_offset(center_lat, center_lon, 25, -25))
points.append(mp_util.gps_offset(center_lat, center_lon, -25, -25))
start_idx = loader.count()
for p in points:
wp = mavutil.mavlink.MAVLink_mission_item_message(
0, 0, 0, 0, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, 0, 1, 4, 0, 0, 0, p[0], p[1], 0
)
loader.add(wp)
self.loading_waypoints = True
self.loading_waypoint_lasttime = time.time()
self.master.mav.mission_write_partial_list_send(self.target_system,
self.target_component,
start_idx, start_idx+4)
print("Added nofly zone")

def wp_add_takeoff(self, args):
'''add a takeoff as first mission item'''
latlon = self.mpstate.click_location
Expand Down