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ArduCopter: DCM handles centrifugal correction application internally now

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Peter Barker 2021-08-12 10:46:07 +10:00 committed by Andrew Tridgell
parent 608608f32f
commit 000b410daa
2 changed files with 0 additions and 6 deletions
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4
ArduCopter/AP_Arming.cpp
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@ -842,8 +842,6 @@ bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_
copter.g2.smart_rtl.set_home(copter.position_ok()); copter.g2.smart_rtl.set_home(copter.position_ok());
#endif #endif
// enable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(true);
hal.util->set_soft_armed(true); hal.util->set_soft_armed(true);
#if SPRAYER_ENABLED == ENABLED #if SPRAYER_ENABLED == ENABLED
@ -941,8 +939,6 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che
AP::logger().set_vehicle_armed(false); AP::logger().set_vehicle_armed(false);
// disable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(false);
hal.util->set_soft_armed(false); hal.util->set_soft_armed(false);
copter.ap.in_arming_delay = false; copter.ap.in_arming_delay = false;

2
ArduCopter/Parameters.cpp
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@ -1166,8 +1166,6 @@ void Copter::load_parameters(void)
AP_HAL::panic("Bad var table"); 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); hal.util->set_soft_armed(false);
if (!g.format_version.load() || if (!g.format_version.load() ||