AP_AHRS: remove armed state, use hal.util soft_armed state

This commit is contained in:
Jonathan Challinger 2015-01-28 15:16:26 -08:00 committed by Andrew Tridgell
parent aa7776ea59
commit 180c85817d

View File

@ -92,9 +92,6 @@ public:
// enable centrifugal correction by default
_flags.correct_centrifugal = true;
// start off with armed flag true
_flags.armed = true;
// initialise _home
_home.options = 0;
_home.alt = 0;
@ -308,17 +305,6 @@ public:
return _flags.correct_centrifugal;
}
// set the armed flag
// allows EKF enter static mode when disarmed
void set_armed(bool setting) {
_flags.armed = setting;
}
// get the armed flag
bool get_armed(void) const {
return _flags.armed;
}
// get trim
const Vector3f &get_trim() const { return _trim.get(); }
@ -391,7 +377,6 @@ protected:
uint8_t fly_forward : 1; // 1 if we can assume the aircraft will be flying forward on its X axis
uint8_t correct_centrifugal : 1; // 1 if we should correct for centrifugal forces (allows arducopter to turn this off when motors are disarmed)
uint8_t wind_estimation : 1; // 1 if we should do wind estimation
uint8_t armed : 1; // 1 if we are armed for flight
} _flags;
// update_trig - recalculates _cos_roll, _cos_pitch, etc based on latest attitude