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Sub: Remove auto_disarm_check

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There isn't a good set of conditions to determine if we should
automatically disarm
This commit is contained in:
Jacob Walser 2017-03-24 15:01:27 -04:00
parent 4465d4ba69
commit 1a68fce2d0
5 changed files with 1 additions and 46 deletions
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1
ArduSub/ArduSub.cpp
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@ -31,7 +31,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
SCHED_TASK(update_optical_flow, 200, 160),
#endif
SCHED_TASK(update_batt_compass, 10, 120),
SCHED_TASK(auto_disarm_check, 10, 50),
SCHED_TASK(read_rangefinder, 20, 100),
SCHED_TASK(update_altitude, 10, 100),
SCHED_TASK(run_nav_updates, 50, 100),

8
ArduSub/Parameters.cpp
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@ -272,14 +272,6 @@ const AP_Param::Info Sub::var_info[] = {
// @User: Standard
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
// @Param: DISARM_DELAY
// @DisplayName: Disarm delay
// @Description: Delay before automatic disarm in seconds. A value of zero disables auto disarm.
// @Units: Seconds
// @Range: 0 127
// @User: Advanced
GSCALAR(disarm_delay, "DISARM_DELAY", AUTO_DISARMING_DELAY),
// @Param: ANGLE_MAX
// @DisplayName: Angle Max
// @Description: Maximum lean angle in all flight modes

5
ArduSub/Parameters.h
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@ -199,8 +199,7 @@ public:
k_param_gcs_pid_mask = 178,
k_param_throttle_filt,
k_param_throttle_deadzone, // Used in auto-throttle modes
k_param_disarm_delay,
k_param_terrain_follow,
k_param_terrain_follow = 182,
k_param_rc_feel_rp,
k_param_throttle_gain,
k_param_cam_tilt_center,
@ -280,8 +279,6 @@ public:
//
AP_Int32 log_bitmask;
AP_Int8 disarm_delay;
AP_Int8 fs_ekf_action;
AP_Int8 fs_crash_check;
AP_Float fs_ekf_thresh;

1
ArduSub/Sub.h
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@ -656,7 +656,6 @@ private:
bool mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc);
uint8_t mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value, float timeout_sec);
void motor_test_stop();
void auto_disarm_check();
bool init_arm_motors(bool arming_from_gcs);
void init_disarm_motors();
void motors_output();

32
ArduSub/motors.cpp
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@ -1,39 +1,7 @@
#include "Sub.h"
#define ARM_DELAY 20 // called at 10hz so 2 seconds
#define DISARM_DELAY 20 // called at 10hz so 2 seconds
#define AUTO_TRIM_DELAY 100 // called at 10hz so 10 seconds
#define LOST_VEHICLE_DELAY 10 // called at 10hz so 1 second
//static uint32_t auto_disarm_begin;
// auto_disarm_check
// Automatically disarm the vehicle under some set of conditions
// What those conditions should be TBD
void Sub::auto_disarm_check()
{
// Disable for now
// uint32_t tnow_ms = millis();
// uint32_t disarm_delay_ms = 1000*constrain_int16(g.disarm_delay, 0, 127);
//
// // exit immediately if we are already disarmed, or if auto
// // disarming is disabled
// if (!motors.armed() || disarm_delay_ms == 0) {
// auto_disarm_begin = tnow_ms;
// return;
// }
//
// if(!mode_has_manual_throttle(control_mode) || !ap.throttle_zero) {
// auto_disarm_begin = tnow_ms;
// }
//
// if(tnow > auto_disarm_begin + disarm_delay_ms) {
// init_disarm_motors();
// auto_disarm_begin = tnow_ms;
// }
}
// init_arm_motors - performs arming process including initialisation of barometer and gyros
// returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure
bool Sub::init_arm_motors(bool arming_from_gcs)