Merge pull request #248 from ut-issl/feature/remove_range_observe_mode

GPSR_RANGE_OBSERVEモードの削除
ut-issl · Feb 1, 2024 · 1048a7a · 1048a7a
2 parents 8aaf676 + 660aa96
commit 1048a7a
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Showing 9 changed files with 3 additions and 70 deletions.
diff --git a/database/CMD_DB/AOBC_CMD_DB_BCT.csv b/database/CMD_DB/AOBC_CMD_DB_BCT.csv
@@ -20,7 +20,6 @@ Comment,Name,ShortName,BCID,エイリアス,,,,,Danger Flag,Description,Note
 ,BC_TL_ROUGH_THREE_AXIS,,14,,,,,,danger,,
 ,BC_TL_ROUGH_THREE_AXIS_RW,,15,,,,,,danger,,
 ,BC_TL_FINE_THREE_AXIS,,16,,,,,,danger,,
-,BC_TL_GPSR_RANGE_OBSERVE,,17,,,,,,danger,,
 **,Block Cmds for Composition (App Rotator@@ Combiner),,,,,,,,,,
 *,./src_user/Settings/Modes/TaskLists/Elements/ で定義,,,,,,,,,,
 *,BC_AR_DEBUG_DISPLAY_INI,,,,,,,,danger,,
@@ -298,3 +297,4 @@ Comment,Name,ShortName,BCID,エイリアス,,,,,Danger Flag,Description,Note
 ,,,,,,,,,,,
 ,,,,,,,,,,,
 ,,,,,,,,,,,
+,,,,,,,,,,,
diff --git a/src/src_user/Applications/UserDefined/AOCS/aocs_mode_manager.c b/src/src_user/Applications/UserDefined/AOCS/aocs_mode_manager.c
@@ -290,7 +290,7 @@ static void APP_AOCS_MM_fine_three_axis_exec_(void)
   // モード遷移後、制御収束まではdisableにしておく想定
   if (aocs_mode_manager_.is_enabled_auto_mode_transition == 0) return;
   MD_MODEID current_mode = mode_manager->current_id;
-  if ((current_mode != MD_MODEID_FINE_THREE_AXIS) && (current_mode != MD_MODEID_GPSR_RANGE_OBSERVE)) return;
+  if (current_mode != MD_MODEID_FINE_THREE_AXIS) return;
 
   // エラーが大きすぎることを検知してBdotに戻る
   float error_angle_rad = fabsf(2.0f * acosf(aocs_manager->quaternion_error_b2t.scalar_part));

diff --git a/src/src_user/Settings/CMakeLists.txt b/src/src_user/Settings/CMakeLists.txt
@@ -14,7 +14,7 @@ set(C2A_SRCS
   Modes/TaskLists/tl_rough_three_axis.c
   Modes/TaskLists/tl_rough_three_axis_rw.c
   Modes/TaskLists/tl_fine_three_axis.c
-  Modes/TaskLists/tl_gpsr_range_observe.c
+
   Modes/TaskLists/Elements/tl_elem_debug_display.c
   Modes/TaskLists/Elements/tl_elem_drivers_update.c
   Modes/TaskLists/Elements/tl_elem_gs_related_process.c

diff --git a/src/src_user/Settings/Modes/TaskLists/tl_gpsr_range_observe.c b/src/src_user/Settings/Modes/TaskLists/tl_gpsr_range_observe.c
diff --git a/src/src_user/Settings/Modes/TaskLists/tl_gpsr_range_observe.h b/src/src_user/Settings/Modes/TaskLists/tl_gpsr_range_observe.h
diff --git a/src/src_user/Settings/Modes/mode_definitions.c b/src/src_user/Settings/Modes/mode_definitions.c
@@ -19,7 +19,6 @@ void MD_load_mode_list(void)
   MM_set_mode_list(MD_MODEID_ROUGH_THREE_AXIS,    BC_TL_ROUGH_THREE_AXIS);
   MM_set_mode_list(MD_MODEID_ROUGH_THREE_AXIS_RW, BC_TL_ROUGH_THREE_AXIS_RW);
   MM_set_mode_list(MD_MODEID_FINE_THREE_AXIS,     BC_TL_FINE_THREE_AXIS);
-  MM_set_mode_list(MD_MODEID_GPSR_RANGE_OBSERVE,  BC_TL_GPSR_RANGE_OBSERVE);
 }
 
 void MD_load_transition_table(void)
@@ -53,12 +52,6 @@ void MD_load_transition_table(void)
   // from Fine Three Axis
   MM_set_transition_table(MD_MODEID_FINE_THREE_AXIS, MD_MODEID_BDOT, BC_SL_ANY_TO_BDOT);
   MM_set_transition_table(MD_MODEID_FINE_THREE_AXIS, MD_MODEID_FINE_THREE_AXIS, BC_SL_NOP);
-  MM_set_transition_table(MD_MODEID_FINE_THREE_AXIS, MD_MODEID_GPSR_RANGE_OBSERVE, BC_SL_NOP);
-
-  // from GPSR Range Observe
-  MM_set_transition_table(MD_MODEID_GPSR_RANGE_OBSERVE, MD_MODEID_BDOT, BC_SL_ANY_TO_BDOT);
-  MM_set_transition_table(MD_MODEID_GPSR_RANGE_OBSERVE, MD_MODEID_FINE_THREE_AXIS, BC_SL_NOP);
-  MM_set_transition_table(MD_MODEID_GPSR_RANGE_OBSERVE, MD_MODEID_GPSR_RANGE_OBSERVE, BC_SL_NOP);
 }
 
 #pragma section
diff --git a/src/src_user/Settings/Modes/mode_definitions.h b/src/src_user/Settings/Modes/mode_definitions.h
@@ -14,7 +14,6 @@ typedef enum
   MD_MODEID_ROUGH_THREE_AXIS      = 4,  //!< 粗三軸制御モード
   MD_MODEID_ROUGH_THREE_AXIS_RW   = 5,  //!< RWを使った粗三軸捕捉制御モード
   MD_MODEID_FINE_THREE_AXIS       = 6,  //!< 精三軸制御モード
-  MD_MODEID_GPSR_RANGE_OBSERVE    = 7,  //!< GPSRのレンジテレメ取得を行うモード
   MD_MODEID_MODE_MAX                    // NOTE: tlmサイズ調整のため，最大モード数を8とする．増やすときはそちらとも調整する．
 } MD_MODEID;
 

diff --git a/src/src_user/TlmCmd/block_command_definitions.c b/src/src_user/TlmCmd/block_command_definitions.c
@@ -19,7 +19,6 @@
 #include <src_user/Settings/Modes/TaskLists/tl_rough_three_axis.h>
 #include <src_user/Settings/Modes/TaskLists/tl_rough_three_axis_rw.h>
 #include <src_user/Settings/Modes/TaskLists/tl_fine_three_axis.h>
-#include <src_user/Settings/Modes/TaskLists/tl_gpsr_range_observe.h>
 
 #include <src_user/Settings/Modes/TaskLists/Elements/tl_elem_cdh_update.h>
 #include <src_user/Settings/Modes/TaskLists/Elements/tl_elem_drivers_update.h>
@@ -63,7 +62,6 @@ void BC_load_defaults(void)
   BCL_load_bc(BC_TL_ROUGH_THREE_AXIS,     BCL_load_rough_three_axis_mode);
   BCL_load_bc(BC_TL_ROUGH_THREE_AXIS_RW,  BCL_load_rough_three_axis_rw_mode);
   BCL_load_bc(BC_TL_FINE_THREE_AXIS,      BCL_load_fine_three_axis_mode);
-  BCL_load_bc(BC_TL_GPSR_RANGE_OBSERVE,   BCL_load_gpsr_range_observe_mode);
 
   // Block Cmds for Application Rotation / Combination
   // === CDH ===

diff --git a/src/src_user/TlmCmd/block_command_definitions.h b/src/src_user/TlmCmd/block_command_definitions.h
@@ -31,7 +31,6 @@ typedef enum
   BC_TL_ROUGH_THREE_AXIS = 14,
   BC_TL_ROUGH_THREE_AXIS_RW = 15,
   BC_TL_FINE_THREE_AXIS = 16,
-  BC_TL_GPSR_RANGE_OBSERVE = 17,
 
   // Block Cmds for Composition (App Rotator, Combiner)
   // ./src_user/Settings/Modes/TaskLists/Elements/ で定義