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mavwp: remove old fences-in-waypoints code #984

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mavwp: remove old fences-in-waypoints code #984

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27 changes: 0 additions & 27 deletions mavwp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -289,10 +289,6 @@ def view_indexes(self, done=None):
break
idx += 1

exclusion_start = -1
exclusion_count = -1
inclusion_start = -1
inclusion_count = -1
while idx < self.count():
w = self.wp(idx)
if idx in done:
Expand All @@ -306,35 +302,12 @@ def view_indexes(self, done=None):
if self.is_location_wp(w):
ret.append(idx)
continue
# display loops for exclusion and inclusion zones
if w.command == mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION:
if exclusion_start == -1:
exclusion_count = int(w.param1)
exclusion_start = idx
if idx == exclusion_start + exclusion_count - 1:
ret.append(idx)
ret.append(exclusion_start)
return ret
if w.command == mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION:
if inclusion_start == -1:
inclusion_count = int(w.param1)
inclusion_start = idx
if idx == inclusion_start + inclusion_count - 1:
ret.append(idx)
ret.append(inclusion_start)
return ret
if self.is_location_wp(w):
ret.append(idx)
if w.command in [ mavutil.mavlink.MAV_CMD_NAV_LAND,
mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND ]:
# stop at landing points
return ret
exc_zones = [mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION,
mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION]
w2 = self.wp(idx+1)
if w2 is not None and w.command not in exc_zones and w2.command in exc_zones:
# don't draw a line from last WP to first exc zone
return ret
idx += 1
return ret

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