AP_GPS: remove dead GPS_MINDGPS variable

ArduPilot · Feb 22, 2024 · 21a01c5 · 21a01c5
1 parent e72a393
commit 21a01c5
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Showing 12 changed files with 3 additions and 19 deletions.
diff --git a/Tools/Frame_params/Sub/bluerov2-3_5.params b/Tools/Frame_params/Sub/bluerov2-3_5.params
@@ -229,7 +229,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0.000000000000000000

diff --git a/Tools/Frame_params/Sub/bluerov2-3_5_2.params b/Tools/Frame_params/Sub/bluerov2-3_5_2.params
@@ -227,7 +227,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0.0

diff --git a/Tools/Frame_params/Sub/bluerov2-3_5_4.params b/Tools/Frame_params/Sub/bluerov2-3_5_4.params
@@ -223,7 +223,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0.0

diff --git a/Tools/Frame_params/Sub/bluerov2-4_0_0.params b/Tools/Frame_params/Sub/bluerov2-4_0_0.params
@@ -263,7 +263,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0.0
@@ -828,4 +827,5 @@ WPNAV_SPEED,500.0
 WPNAV_SPEED_DN,150.0
 WPNAV_SPEED_UP,250.0
 WP_YAW_BEHAVIOR,4
-XTRACK_ANG_LIM,45
+XTRACK_ANG_LIM,45
+
diff --git a/Tools/Frame_params/Sub/bluerov2-heavy-3_5_2.params b/Tools/Frame_params/Sub/bluerov2-heavy-3_5_2.params
@@ -227,7 +227,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0.000000000000000000

diff --git a/Tools/Frame_params/Sub/bluerov2-heavy-3_5_4.params b/Tools/Frame_params/Sub/bluerov2-heavy-3_5_4.params
@@ -223,7 +223,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0.0

diff --git a/Tools/Frame_params/Sub/bluerov2-heavy-4_0_0.params b/Tools/Frame_params/Sub/bluerov2-heavy-4_0_0.params
@@ -263,7 +263,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0.0

diff --git a/Tools/autotest/default_params/vee-gull_005.param b/Tools/autotest/default_params/vee-gull_005.param
@@ -227,7 +227,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
@@ -158,13 +158,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
     AP_GROUPINFO("_AUTO_SWITCH", 3, AP_GPS, _auto_switch, (int8_t)GPSAutoSwitch::USE_BEST),
 #endif
 
-    // @Param: _MIN_DGPS
-    // @DisplayName: Minimum Lock Type Accepted for DGPS
-    // @Description: Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.
-    // @Values: 0:Any,50:FloatRTK,100:IntegerRTK
-    // @User: Advanced
-    // @RebootRequired: True
-    AP_GROUPINFO("_MIN_DGPS", 4, AP_GPS, _min_dgps, 100),
+    // 4 was _MIN_GPS, removed Feb 2024
 
     // @Param: _SBAS_MODE
     // @DisplayName: SBAS Mode

diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
@@ -592,7 +592,6 @@ class AP_GPS
     AP_Int8 _type[GPS_MAX_RECEIVERS];
     AP_Int8 _navfilter;
     AP_Int8 _auto_switch;
-    AP_Int8 _min_dgps;
     AP_Int16 _sbp_logmask;
     AP_Int8 _inject_to;
     uint32_t _last_instance_swap_ms;

diff --git a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
@@ -176,7 +176,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0

diff --git a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
@@ -180,7 +180,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0