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Blimp: DCM handles centrifugal correction application internally now

gps-1.3.1
Peter Barker 4 years ago committed by Andrew Tridgell
parent
commit
bf7474c940
  1. 4
      Blimp/AP_Arming.cpp
  2. 2
      Blimp/Parameters.cpp

4
Blimp/AP_Arming.cpp

@ -384,8 +384,6 @@ bool AP_Arming_Blimp::arm(const AP_Arming::Method method, const bool do_arming_c @@ -384,8 +384,6 @@ bool AP_Arming_Blimp::arm(const AP_Arming::Method method, const bool do_arming_c
blimp.arming_altitude_m = blimp.inertial_nav.get_altitude() * 0.01;
}
// enable gps velocity based centrifugal force compensation
ahrs.set_correct_centrifugal(true);
hal.util->set_soft_armed(true);
// finally actually arm the motors
@ -443,8 +441,6 @@ bool AP_Arming_Blimp::disarm(const AP_Arming::Method method, bool do_disarm_chec @@ -443,8 +441,6 @@ bool AP_Arming_Blimp::disarm(const AP_Arming::Method method, bool do_disarm_chec
AP::logger().set_vehicle_armed(false);
// disable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(false);
hal.util->set_soft_armed(false);
blimp.ap.in_arming_delay = false;

2
Blimp/Parameters.cpp

@ -876,8 +876,6 @@ void Blimp::load_parameters(void) @@ -876,8 +876,6 @@ void Blimp::load_parameters(void)
AP_HAL::panic("Bad var table");
}
// disable centrifugal force correction, it will be enabled as part of the arming process
ahrs.set_correct_centrifugal(false);
hal.util->set_soft_armed(false);
if (!g.format_version.load() ||

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