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Sub: Set default param value instead of forcing at boot

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This commit is contained in:
Jacob Walser 2017-04-15 01:09:20 -04:00
parent 8d93af112f
commit 3a501a42fb
2 changed files with 1 additions and 5 deletions
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1
ArduSub/Parameters.cpp
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@ -809,6 +809,7 @@ void Sub::load_parameters(void)
AP_Arming::ARMING_CHECK_BATTERY | AP_Arming::ARMING_CHECK_BATTERY |
AP_Arming::ARMING_CHECK_LOGGING); AP_Arming::ARMING_CHECK_LOGGING);
AP_Param::set_default_by_name("CIRCLE_RATE", 2.0f); 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) void Sub::convert_old_parameters(void)

5
ArduSub/system.cpp
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@ -150,11 +150,6 @@ void Sub::init_ardupilot()
leak_detector.init(); 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; last_pilot_heading = ahrs.yaw_sensor;
// initialise rangefinder // initialise rangefinder