Remove NoFly support

this code was only relevant for a very specific ArduPlane firmware used during the OBC many years ago

MAVProxy/modules/mavproxy_map/__init__.py

@@ -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,
@@ -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))
@@ -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':

MAVProxy/modules/mavproxy_wp.py

@@ -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(
@@ -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":
@@ -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