From 3a501a42fbf8fb67edb5c10750366078070f7b25 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Sat, 15 Apr 2017 01:09:20 -0400 Subject: [PATCH] Sub: Set default param value instead of forcing at boot --- ArduSub/Parameters.cpp | 1 + ArduSub/system.cpp | 5 ----- 2 files changed, 1 insertion(+), 5 deletions(-) diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp index 9c62a33e0b..618276d24d 100644 --- a/ArduSub/Parameters.cpp +++ b/ArduSub/Parameters.cpp @@ -809,6 +809,7 @@ void Sub::load_parameters(void) AP_Arming::ARMING_CHECK_BATTERY | AP_Arming::ARMING_CHECK_LOGGING); AP_Param::set_default_by_name("CIRCLE_RATE", 2.0f); + AP_Param::set_default_by_name("ATC_ACCEL_Y_MAX", 110000.0f); } void Sub::convert_old_parameters(void) diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp index deb76b2630..0b81d78f8d 100644 --- a/ArduSub/system.cpp +++ b/ArduSub/system.cpp @@ -150,11 +150,6 @@ void Sub::init_ardupilot() leak_detector.init(); - // backwards compatibility - if (attitude_control.get_accel_yaw_max() < 110000.0f) { - attitude_control.save_accel_yaw_max(110000.0f); - } - last_pilot_heading = ahrs.yaw_sensor; // initialise rangefinder