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Sub: Remove auto-trim

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Sub vehicles usually have some static stability
This commit is contained in:
Jacob Walser 2017-03-22 23:55:43 -04:00
parent 15a117dfb4
commit 2fa9d31787
4 changed files with 0 additions and 33 deletions
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1
ArduSub/ArduSub.cpp
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@ -32,7 +32,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
#endif
SCHED_TASK(update_batt_compass, 10, 120),
SCHED_TASK(auto_disarm_check, 10, 50),
SCHED_TASK(auto_trim, 10, 75),
SCHED_TASK(read_rangefinder, 20, 100),
SCHED_TASK(update_altitude, 10, 100),
SCHED_TASK(run_nav_updates, 50, 100),

1
ArduSub/Sub.cpp
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@ -67,7 +67,6 @@ Sub::Sub(void) :
pmTest1(0),
fast_loopTimer(0),
mainLoop_count(0),
auto_trim_counter(0),
ServoRelayEvents(relay),
#if CAMERA == ENABLED
camera(&relay),

3
ArduSub/Sub.h
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@ -410,9 +410,6 @@ private:
// Counter of main loop executions. Used for performance monitoring and failsafe processing
uint16_t mainLoop_count;
// Used to exit the roll and pitch auto trim function
uint8_t auto_trim_counter;
// Reference to the relay object
AP_Relay relay;

28
ArduSub/radio.cpp
View File

@ -118,31 +118,3 @@ void Sub::save_trim()
Log_Write_Event(DATA_SAVE_TRIM);
gcs_send_text(MAV_SEVERITY_INFO, "Trim saved");
}
// auto_trim - slightly adjusts the ahrs.roll_trim and ahrs.pitch_trim towards the current stick positions
// meant to be called continuously while the pilot attempts to keep the vehicle level
void Sub::auto_trim()
{
if (auto_trim_counter > 0) {
auto_trim_counter--;
// flash the leds
AP_Notify::flags.save_trim = true;
// calculate roll trim adjustment
float roll_trim_adjustment = ToRad((float)channel_roll->get_control_in() / 4000.0f);
// calculate pitch trim adjustment
float pitch_trim_adjustment = ToRad((float)channel_pitch->get_control_in() / 4000.0f);
// add trim to ahrs object
// save to eeprom on last iteration
ahrs.add_trim(roll_trim_adjustment, pitch_trim_adjustment, (auto_trim_counter == 0));
// on last iteration restore leds and accel gains to normal
if (auto_trim_counter == 0) {
AP_Notify::flags.save_trim = false;
}
}
}