Sub: Remove esc calibration

ArduSub/Parameters.cpp

@@ -279,13 +279,6 @@ const AP_Param::Info Sub::var_info[] = {
     // @User: Standard
     GSCALAR(log_bitmask,    "LOG_BITMASK",          DEFAULT_LOG_BITMASK),
 
-    // @Param: ESC_CALIBRATION
-    // @DisplayName: ESC Calibration
-    // @Description: Controls whether ArduSub will enter ESC calibration on the next restart.  Do not adjust this parameter manually.
-    // @User: Advanced
-    // @Values: 0:Normal Start-up, 1:Start-up in ESC Calibration mode if throttle high, 2:Start-up in ESC Calibration mode regardless of throttle, 9:Disabled
-    GSCALAR(esc_calibrate, "ESC_CALIBRATION",       0),
-
     // @Param: DISARM_DELAY
     // @DisplayName: Disarm delay
     // @Description: Delay before automatic disarm in seconds. A value of zero disables auto disarm.

ArduSub/Parameters.h

@@ -197,8 +197,7 @@ public:
         k_param_compass_enabled,
         k_param_surface_depth,
         k_param_rc_speed, // Main output pwm frequency
-        k_param_esc_calibrate, // Boot-time ESC calibration behavior
-        k_param_gcs_pid_mask,
+        k_param_gcs_pid_mask = 178,
         k_param_throttle_filt,
         k_param_throttle_deadzone, // Used in auto-throttle modes
         k_param_disarm_delay,
@@ -283,7 +282,6 @@ public:
     // Misc
     //
     AP_Int32        log_bitmask;
-    AP_Int8         esc_calibrate;
 
     AP_Int8         disarm_delay;
 

ArduSub/Sub.h

@@ -623,9 +623,6 @@ private:
     bool ekf_over_threshold();
     void failsafe_ekf_event();
     void failsafe_ekf_off_event(void);
-    void esc_calibration_startup_check();
-    void esc_calibration_passthrough();
-    void esc_calibration_auto();
     bool should_disarm_on_failsafe();
     void failsafe_battery_event(void);
     void failsafe_gcs_check();

ArduSub/esc_calibration.cpp

@@ -1,143 +0,0 @@
-#include "Sub.h"
-
-/*****************************************************************************
-*  esc_calibration.pde : functions to check and perform ESC calibration
-*****************************************************************************/
-
-#define ESC_CALIBRATION_HIGH_THROTTLE   950
-
-// enum for ESC CALIBRATION
-enum ESCCalibrationModes {
-    ESCCAL_NONE = 0,
-    ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH = 1,
-    ESCCAL_PASSTHROUGH_ALWAYS = 2,
-    ESCCAL_AUTO = 3,
-    ESCCAL_DISABLED = 9,
-};
-
-// check if we should enter esc calibration mode
-void Sub::esc_calibration_startup_check()
-{
-    // exit immediately if pre-arm rc checks fail
-    if (!arming.rc_check()) {
-        // clear esc flag for next time
-        if ((g.esc_calibrate != ESCCAL_NONE) && (g.esc_calibrate != ESCCAL_DISABLED)) {
-            g.esc_calibrate.set_and_save(ESCCAL_NONE);
-        }
-        return;
-    }
-
-    // check ESC parameter
-    switch (g.esc_calibrate) {
-    case ESCCAL_NONE:
-        // check if throttle is high
-        if (channel_throttle->get_control_in() >= ESC_CALIBRATION_HIGH_THROTTLE) {
-            // we will enter esc_calibrate mode on next reboot
-            g.esc_calibrate.set_and_save(ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH);
-            // send message to gcs
-            gcs_send_text(MAV_SEVERITY_CRITICAL,"ESC calibration: Restart board");
-            // turn on esc calibration notification
-            AP_Notify::flags.esc_calibration = true;
-            // block until we restart
-            while (1) {
-                hal.scheduler->delay(5);
-            }
-        }
-        break;
-    case ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH:
-        // check if throttle is high
-        if (channel_throttle->get_control_in() >= ESC_CALIBRATION_HIGH_THROTTLE) {
-            // pass through pilot throttle to escs
-            esc_calibration_passthrough();
-        }
-        break;
-    case ESCCAL_PASSTHROUGH_ALWAYS:
-        // pass through pilot throttle to escs
-        esc_calibration_passthrough();
-        break;
-    case ESCCAL_AUTO:
-        // perform automatic ESC calibration
-        esc_calibration_auto();
-        break;
-    case ESCCAL_DISABLED:
-    default:
-        // do nothing
-        break;
-    }
-
-    // clear esc flag for next time
-    if (g.esc_calibrate != ESCCAL_DISABLED) {
-        g.esc_calibrate.set_and_save(ESCCAL_NONE);
-    }
-}
-
-// esc_calibration_passthrough - pass through pilot throttle to escs
-void Sub::esc_calibration_passthrough()
-{
-    // clear esc flag for next time
-    g.esc_calibrate.set_and_save(ESCCAL_NONE);
-
-    // reduce update rate to motors to 50Hz
-    motors.set_update_rate(50);
-
-    // send message to GCS
-    gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Passing pilot throttle to ESCs");
-
-    while (1) {
-        // arm motors
-        motors.armed(true);
-        motors.enable();
-
-        // flash LEDS
-        AP_Notify::flags.esc_calibration = true;
-
-        // pass through to motors
-        motors.set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
-    }
-}
-
-// esc_calibration_auto - calibrate the ESCs automatically using a timer and no pilot input
-void Sub::esc_calibration_auto()
-{
-    bool printed_msg = false;
-
-    // reduce update rate to motors to 50Hz
-    motors.set_update_rate(50);
-
-    // send message to GCS
-    gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Auto calibration");
-
-    // arm and enable motors
-    motors.armed(true);
-    motors.enable();
-
-    // flash LEDS
-    AP_Notify::flags.esc_calibration = true;
-
-    // raise throttle to maximum
-    hal.scheduler->delay(10);
-    motors.set_throttle_passthrough_for_esc_calibration(1.0f);
-
-    // wait for safety switch to be pressed
-    while (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
-        if (!printed_msg) {
-            gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch");
-            printed_msg = true;
-        }
-        hal.scheduler->delay(10);
-    }
-
-    // delay for 5 seconds
-    hal.scheduler->delay(5000);
-
-    // reduce throttle to minimum
-    motors.set_throttle_passthrough_for_esc_calibration(0.0f);
-
-    // clear esc parameter
-    g.esc_calibrate.set_and_save(ESCCAL_NONE);
-
-    // block until we restart
-    while (1) {
-        hal.scheduler->delay(5);
-    }
-}

ArduSub/radio.cpp

@@ -67,9 +67,6 @@ void Sub::init_rc_out()
     motors.init((AP_Motors::motor_frame_class)g.frame_configuration.get(), (AP_Motors::motor_frame_type)0);
     motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
 
-    // check if we should enter esc calibration mode
-    esc_calibration_startup_check();
-
     // enable output to motors
     if (arming.rc_check()) {
         enable_motor_output();