Sub: Remove RC radio failsafe

ArduSub/AP_State.cpp

@@ -57,33 +57,6 @@ void Sub::set_simple_mode(uint8_t b)
     }
 }
 
-// ---------------------------------------------
-void Sub::set_failsafe_radio(bool b)
-{
-    // only act on changes
-    // -------------------
-    if(failsafe.radio != b) {
-
-        // store the value so we don't trip the gate twice
-        // -----------------------------------------------
-        failsafe.radio = b;
-
-        if (failsafe.radio == false) {
-            // We've regained radio contact
-            // ----------------------------
-            failsafe_radio_off_event();
-        }else{
-            // We've lost radio contact
-            // ------------------------
-            failsafe_radio_on_event();
-        }
-
-        // update AP_Notify
-        AP_Notify::flags.failsafe_radio = b;
-    }
-}
-
-
 // ---------------------------------------------
 void Sub::set_failsafe_battery(bool b)
 {

ArduSub/Parameters.cpp

@@ -222,22 +222,6 @@ const AP_Param::Info Sub::var_info[] = {
     // @User: Standard
     GSCALAR(pilot_accel_z,  "PILOT_ACCEL_Z",    PILOT_ACCEL_Z_DEFAULT),
 
-    // @Param: FS_THR_ENABLE
-    // @DisplayName: Throttle Failsafe Enable
-    // @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
-    // @Values: 0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode,3:Enabled always LAND
-    // @User: Standard
-    GSCALAR(failsafe_throttle,  "FS_THR_ENABLE",   FS_THR_DISABLED),
-
-    // @Param: FS_THR_VALUE
-    // @DisplayName: Throttle Failsafe Value
-    // @Description: The PWM level on channel 3 below which throttle sailsafe triggers
-    // @Range: 925 1100
-    // @Units: pwm
-    // @Increment: 1
-    // @User: Standard
-    GSCALAR(failsafe_throttle_value, "FS_THR_VALUE",      FS_THR_VALUE_DEFAULT),
-
     // @Param: THR_DZ
     // @DisplayName: Throttle deadzone
     // @Description: The deadzone above and below mid throttle.  Used in AltHold, Loiter, PosHold flight modes

ArduSub/Parameters.h

@@ -182,8 +182,6 @@ public:
         k_param_failsafe_battery_enabled,
         k_param_fs_batt_mah,
         k_param_fs_batt_voltage,
-        k_param_failsafe_throttle,
-        k_param_failsafe_throttle_value,
 
 
         // Misc Sub settings
@@ -286,8 +284,6 @@ public:
 
     // Throttle
     //
-    AP_Int8         failsafe_throttle;
-    AP_Int16        failsafe_throttle_value;
     AP_Int16        throttle_deadzone;
 
     // Flight modes

ArduSub/Sub.h

@@ -288,8 +288,6 @@ private:
         uint32_t last_leak_warn_ms;      // last time a leak warning was sent to gcs
         uint32_t last_gcs_warn_ms;
 
-        int8_t radio_counter;            // number of iterations with throttle below throttle_fs_value
-
         uint32_t last_heartbeat_ms;      // the time when the last HEARTBEAT message arrived from a GCS - used for triggering gcs failsafe
         uint32_t terrain_first_failure_ms;  // the first time terrain data access failed - used to calculate the duration of the failure
         uint32_t terrain_last_failure_ms;   // the most recent time terrain data access failed
@@ -522,7 +520,6 @@ private:
     bool home_is_set();
     void set_auto_armed(bool b);
     void set_simple_mode(uint8_t b);
-    void set_failsafe_radio(bool b);
     void set_failsafe_battery(bool b);
     void set_pre_arm_check(bool b);
     void set_pre_arm_rc_check(bool b);
@@ -708,8 +705,6 @@ private:
     void esc_calibration_passthrough();
     void esc_calibration_auto();
     bool should_disarm_on_failsafe();
-    void failsafe_radio_on_event();
-    void failsafe_radio_off_event();
     void failsafe_battery_event(void);
     void failsafe_gcs_check();
     void failsafe_terrain_check();
@@ -784,7 +779,6 @@ private:
     void handle_jsbutton_press(uint8_t button,bool shift=false,bool held=false);
     void camera_tilt_smooth();
     JSButton* get_button(uint8_t index);
-    void set_throttle_and_failsafe(uint16_t throttle_pwm);
     void set_throttle_zero_flag(int16_t throttle_control);
     void radio_passthrough_to_motors();
     void init_barometer(bool full_calibration);

ArduSub/compassmot.cpp

@@ -98,8 +98,7 @@ uint8_t Sub::mavlink_compassmot(mavlink_channel_t chan)
         gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Throttle");
     }
 
-    // disable throttle and battery failsafe
-    g.failsafe_throttle = FS_THR_DISABLED;
+    // disable battery failsafe
     g.failsafe_battery_enabled = FS_BATT_DISABLED;
 
     // disable motor compensation
@@ -256,7 +255,6 @@ uint8_t Sub::mavlink_compassmot(mavlink_channel_t chan)
     failsafe_enable();
 
     // re-enable failsafes
-    g.failsafe_throttle.load();
     g.failsafe_battery_enabled.load();
 
     // flag we have completed

ArduSub/events.cpp

@@ -2,48 +2,6 @@
 
 #include "Sub.h"
 
-/*
- *       This event will be called when the failsafe changes
- *       boolean failsafe reflects the current state
- */
-void Sub::failsafe_radio_on_event()
-{
-//    // if motors are not armed there is nothing to do
-//    if( !motors.armed() ) {
-//        return;
-//    }
-//
-//    if (should_disarm_on_failsafe()) {
-//        init_disarm_motors();
-//    } else {
-//        if (control_mode == AUTO && g.failsafe_throttle == FS_THR_ENABLED_CONTINUE_MISSION) {
-//            // continue mission
-//        } else if (control_mode == LAND && g.failsafe_battery_enabled == FS_BATT_LAND && failsafe.battery) {
-//            // continue landing
-//        } else {
-//            if (g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
-//                set_mode_land_with_pause(MODE_REASON_RADIO_FAILSAFE);
-//            } else {
-//                set_mode_RTL_or_land_with_pause(MODE_REASON_RADIO_FAILSAFE);
-//            }
-//        }
-//    }
-//
-//    // log the error to the dataflash
-//    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_OCCURRED);
-
-}
-
-// failsafe_off_event - respond to radio contact being regained
-// we must be in AUTO, LAND or RTL modes
-// or Stabilize or ACRO mode but with motors disarmed
-void Sub::failsafe_radio_off_event()
-{
-    // no need to do anything except log the error as resolved
-    // user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_RESOLVED);
-}
-
 void Sub::failsafe_battery_event(void)
 {
 //    // return immediately if low battery event has already been triggered

ArduSub/motor_test.cpp

@@ -112,7 +112,6 @@ uint8_t Sub::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq,
             }
 
             // disable throttle, battery and gps failsafe
-            g.failsafe_throttle = FS_THR_DISABLED;
             g.failsafe_battery_enabled = FS_BATT_DISABLED;
             g.failsafe_gcs = FS_GCS_DISABLED;
 
@@ -153,7 +152,6 @@ void Sub::motor_test_stop()
     motor_test_timeout_ms = 0;
 
     // re-enable failsafes
-    g.failsafe_throttle.load();
     g.failsafe_battery_enabled.load();
     g.failsafe_gcs.load();
 

ArduSub/switches.cpp

@@ -125,7 +125,7 @@ void Sub::read_aux_switches()
     uint8_t switch_position;
 
     // exit immediately during radio failsafe
-    if (failsafe.radio || failsafe.radio_counter != 0) {
+    if (failsafe.radio) {
         return;
     }