Remove support for HIL_GPS

Tools/autotest/test_build_options.py

@@ -258,7 +258,6 @@ def define_is_whitelisted_for_feature_in_code(self, target, define):
             'AP_COMPASS_MAG3110_ENABLED',  # must be in hwdef, not probed
             'AP_COMPASS_MMC5XX3_ENABLED',  # must be in hwdef, not probed
             'AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED',  # completely elided
-            'AP_MAVLINK_MSG_HIL_GPS_ENABLED',  # no symbol available
             'AP_MAVLINK_MSG_RELAY_STATUS_ENABLED',  # no symbol available
             'AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED',  # no symbol available
             'HAL_MSP_SENSORS_ENABLED',  # no symbol available

Tools/scripts/build_options.py

@@ -364,7 +364,6 @@ def config_option(self):
     Feature('MAVLink', 'MAVLINK_VERSION_REQUEST', 'AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED', 'Enable Old AUTOPILOT_VERSION_REQUEST mesage', 0, None),  # noqa
     Feature('MAVLink', 'REQUEST_AUTOPILOT_CAPA', 'AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED', 'Enable Old REQUEST_AUTOPILOT_CAPABILITIES command', 0, None),  # noqa
     Feature('MAVLink', 'MAV_MSG_RELAY_STATUS', 'AP_MAVLINK_MSG_RELAY_STATUS_ENABLED', 'Enable Send RELAY_STATUS message', 0, 'RELAY'),  # noqa
-    Feature('MAVLink', 'MAV_MSG_HIL_GPS', 'AP_MAVLINK_MSG_HIL_GPS_ENABLED', 'Enable Receive HIL_GPS messages', 0, 'MAV'),  # noqa
     Feature('MAVLink', 'MAV_MSG_MOUNT_CONTROL', 'AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED', 'Enable Deprecated MOUNT_CONTROL message', 0, "MOUNT"),  # noqa
     Feature('MAVLink', 'MAV_MSG_MOUNT_CONFIGURE', 'AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED', 'Enable Deprecated MOUNT_CONFIGURE message', 0, "MOUNT"),  # noqa
     Feature('MAVLink', 'AP_MAVLINK_BATTERY2_ENABLED', 'AP_MAVLINK_BATTERY2_ENABLED', 'Enable Send old BATTERY2 message', 0, None),  # noqa

Tools/scripts/extract_features.py

@@ -273,7 +273,6 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('AP_CUSTOMROTATIONS_ENABLED', 'AP_CustomRotations::init'),
             ('AP_OSD_LINK_STATS_EXTENSIONS_ENABLED', r'AP_OSD_Screen::draw_rc_tx_power'),
             ('HAL_ENABLE_DRONECAN_DRIVERS', r'AP_DroneCAN::init'),
-            ('AP_MAVLINK_MSG_HIL_GPS_ENABLED', r'mavlink_msg_hil_gps_decode'),
             ('AP_BARO_PROBE_EXTERNAL_I2C_BUSES', r'AP_Baro::_probe_i2c_barometers'),
             ('AP_RSSI_ENABLED', r'AP_RSSI::init'),
 

libraries/AP_GPS/AP_GPS_MAV.cpp

@@ -143,51 +143,8 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
             state.last_gps_time_ms = now_ms;
             _new_data = true;
             break;
-            }
-
-#if AP_MAVLINK_MSG_HIL_GPS_ENABLED
-        case MAVLINK_MSG_ID_HIL_GPS: {
-            mavlink_hil_gps_t packet;
-            mavlink_msg_hil_gps_decode(&msg, &packet);
-
-            // check if target instance belongs to incoming gps data.
-            if (state.instance != packet.id) {
-                return;
-            }
-
-            state.time_week = 0;
-            state.time_week_ms  = packet.time_usec/1000;
-            state.status = (AP_GPS::GPS_Status)packet.fix_type;
+        }
 
-            Location loc = {};
-            loc.lat = packet.lat;
-            loc.lng = packet.lon;
-            loc.alt = packet.alt * 0.1f;
-            state.location = loc;
-            state.hdop = MIN(packet.eph, GPS_UNKNOWN_DOP);
-            state.vdop = MIN(packet.epv, GPS_UNKNOWN_DOP);
-            if (packet.vel < 65535) {
-                state.ground_speed = packet.vel * 0.01f;
-            }
-            Vector3f vel(packet.vn*0.01f, packet.ve*0.01f, packet.vd*0.01f);
-            state.velocity = vel;
-            if (packet.vd != 0) {
-                state.have_vertical_velocity = true;
-            }
-            if (packet.cog < 36000) {
-                state.ground_course = packet.cog * 0.01f;
-            }
-            state.have_speed_accuracy = false;
-            state.have_horizontal_accuracy = false;
-            state.have_vertical_accuracy = false;
-            if (packet.satellites_visible < 255) {
-                state.num_sats = packet.satellites_visible;
-            }
-            state.last_gps_time_ms = AP_HAL::millis();
-            _new_data = true;
-            break;
-            }
-#endif  // AP_MAVLINK_MSG_HIL_GPS_ENABLED
         default:
             // ignore all other messages
             break;

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -4299,11 +4299,6 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
 #endif
 
 #if AP_GPS_ENABLED
-#if AP_MAVLINK_MSG_HIL_GPS_ENABLED
-    case MAVLINK_MSG_ID_HIL_GPS:
-        send_received_message_deprecation_warning("HIL_GPS");
-        FALLTHROUGH;
-#endif
     case MAVLINK_MSG_ID_GPS_RTCM_DATA:
     case MAVLINK_MSG_ID_GPS_INPUT:
     case MAVLINK_MSG_ID_GPS_INJECT_DATA:

libraries/GCS_MAVLink/GCS_config.h

@@ -71,15 +71,6 @@
 #define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED HAL_GCS_ENABLED && HAL_RALLY_ENABLED
 #endif
 
-// CODE_REMOVAL
-// handling of HIL_GPS is slated to be removed in 4.7; GPS_INPUT can be used
-// in its place
-// ArduPilot 4.6 stops compiling support in
-// ArduPilot 4.7 removes the code entirely
-#ifndef AP_MAVLINK_MSG_HIL_GPS_ENABLED
-#define AP_MAVLINK_MSG_HIL_GPS_ENABLED 0
-#endif
-
 // CODE_REMOVAL
 // ArduPilot 4.5 sends deprecation warnings for MOUNT_CONTROL/MOUNT_CONFIGURE
 // ArduPilot 4.6 stops compiling them in