From 1a68fce2d0983497d5c2fa368e5c5008efd4c389 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 24 Mar 2017 15:01:27 -0400 Subject: [PATCH] Sub: Remove auto_disarm_check There isn't a good set of conditions to determine if we should automatically disarm --- ArduSub/ArduSub.cpp | 1 - ArduSub/Parameters.cpp | 8 -------- ArduSub/Parameters.h | 5 +---- ArduSub/Sub.h | 1 - ArduSub/motors.cpp | 32 -------------------------------- 5 files changed, 1 insertion(+), 46 deletions(-) diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp index 4d477ae4ca..f47571ce76 100644 --- a/ArduSub/ArduSub.cpp +++ b/ArduSub/ArduSub.cpp @@ -31,7 +31,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = { SCHED_TASK(update_optical_flow, 200, 160), #endif SCHED_TASK(update_batt_compass, 10, 120), - SCHED_TASK(auto_disarm_check, 10, 50), SCHED_TASK(read_rangefinder, 20, 100), SCHED_TASK(update_altitude, 10, 100), SCHED_TASK(run_nav_updates, 50, 100), diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp index e1df41c236..e5ebb49124 100644 --- a/ArduSub/Parameters.cpp +++ b/ArduSub/Parameters.cpp @@ -272,14 +272,6 @@ const AP_Param::Info Sub::var_info[] = { // @User: Standard GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK), - // @Param: DISARM_DELAY - // @DisplayName: Disarm delay - // @Description: Delay before automatic disarm in seconds. A value of zero disables auto disarm. - // @Units: Seconds - // @Range: 0 127 - // @User: Advanced - GSCALAR(disarm_delay, "DISARM_DELAY", AUTO_DISARMING_DELAY), - // @Param: ANGLE_MAX // @DisplayName: Angle Max // @Description: Maximum lean angle in all flight modes diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h index b1a5b2f691..ae1cf573cd 100644 --- a/ArduSub/Parameters.h +++ b/ArduSub/Parameters.h @@ -199,8 +199,7 @@ public: k_param_gcs_pid_mask = 178, k_param_throttle_filt, k_param_throttle_deadzone, // Used in auto-throttle modes - k_param_disarm_delay, - k_param_terrain_follow, + k_param_terrain_follow = 182, k_param_rc_feel_rp, k_param_throttle_gain, k_param_cam_tilt_center, @@ -280,8 +279,6 @@ public: // AP_Int32 log_bitmask; - AP_Int8 disarm_delay; - AP_Int8 fs_ekf_action; AP_Int8 fs_crash_check; AP_Float fs_ekf_thresh; diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h index 24457babbc..d5a90336a3 100644 --- a/ArduSub/Sub.h +++ b/ArduSub/Sub.h @@ -656,7 +656,6 @@ private: bool mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc); uint8_t mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value, float timeout_sec); void motor_test_stop(); - void auto_disarm_check(); bool init_arm_motors(bool arming_from_gcs); void init_disarm_motors(); void motors_output(); diff --git a/ArduSub/motors.cpp b/ArduSub/motors.cpp index 53edbdfaec..f746c55cce 100644 --- a/ArduSub/motors.cpp +++ b/ArduSub/motors.cpp @@ -1,39 +1,7 @@ #include "Sub.h" -#define ARM_DELAY 20 // called at 10hz so 2 seconds -#define DISARM_DELAY 20 // called at 10hz so 2 seconds -#define AUTO_TRIM_DELAY 100 // called at 10hz so 10 seconds #define LOST_VEHICLE_DELAY 10 // called at 10hz so 1 second -//static uint32_t auto_disarm_begin; - -// auto_disarm_check -// Automatically disarm the vehicle under some set of conditions -// What those conditions should be TBD -void Sub::auto_disarm_check() -{ - // Disable for now - - // uint32_t tnow_ms = millis(); - // uint32_t disarm_delay_ms = 1000*constrain_int16(g.disarm_delay, 0, 127); - // - // // exit immediately if we are already disarmed, or if auto - // // disarming is disabled - // if (!motors.armed() || disarm_delay_ms == 0) { - // auto_disarm_begin = tnow_ms; - // return; - // } - // - // if(!mode_has_manual_throttle(control_mode) || !ap.throttle_zero) { - // auto_disarm_begin = tnow_ms; - // } - // - // if(tnow > auto_disarm_begin + disarm_delay_ms) { - // init_disarm_motors(); - // auto_disarm_begin = tnow_ms; - // } -} - // init_arm_motors - performs arming process including initialisation of barometer and gyros // returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure bool Sub::init_arm_motors(bool arming_from_gcs)