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Copter: remove more parameters when ACRO is disabled

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Dr.-Ing. Amilcar do Carmo Lucas 2018-03-19 12:40:33 +01:00 committed by Randy Mackay
parent d78c2a1015
commit 5f9879fae1
2 changed files with 7 additions and 3 deletions
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2
ArduCopter/AP_Arming.cpp
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@ -212,7 +212,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
} }
// acro balance parameter check // acro balance parameter check
#if MODE_ACRO_ENABLED == ENABLED #if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
if ((copter.g.acro_balance_roll > copter.attitude_control->get_angle_roll_p().kP()) || (copter.g.acro_balance_pitch > copter.attitude_control->get_angle_pitch_p().kP())) { if ((copter.g.acro_balance_roll > copter.attitude_control->get_angle_roll_p().kP()) || (copter.g.acro_balance_pitch > copter.attitude_control->get_angle_pitch_p().kP())) {
if (display_failure) { if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: ACRO_BAL_ROLL/PITCH"); gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: ACRO_BAL_ROLL/PITCH");

8
ArduCopter/Parameters.cpp
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@ -526,9 +526,10 @@ const AP_Param::Info Copter::var_info[] = {
// @User: Standard // @User: Standard
GSCALAR(acro_yaw_p, "ACRO_YAW_P", ACRO_YAW_P), GSCALAR(acro_yaw_p, "ACRO_YAW_P", ACRO_YAW_P),
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
// @Param: ACRO_BAL_ROLL // @Param: ACRO_BAL_ROLL
// @DisplayName: Acro Balance Roll // @DisplayName: Acro Balance Roll
// @Description: rate at which roll angle returns to level in acro mode. A higher value causes the vehicle to return to level faster. // @Description: rate at which roll angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster.
// @Range: 0 3 // @Range: 0 3
// @Increment: 0.1 // @Increment: 0.1
// @User: Advanced // @User: Advanced
@ -536,12 +537,14 @@ const AP_Param::Info Copter::var_info[] = {
// @Param: ACRO_BAL_PITCH // @Param: ACRO_BAL_PITCH
// @DisplayName: Acro Balance Pitch // @DisplayName: Acro Balance Pitch
// @Description: rate at which pitch angle returns to level in acro mode. A higher value causes the vehicle to return to level faster. // @Description: rate at which pitch angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster.
// @Range: 0 3 // @Range: 0 3
// @Increment: 0.1 // @Increment: 0.1
// @User: Advanced // @User: Advanced
GSCALAR(acro_balance_pitch, "ACRO_BAL_PITCH", ACRO_BALANCE_PITCH), GSCALAR(acro_balance_pitch, "ACRO_BAL_PITCH", ACRO_BALANCE_PITCH),
#endif
#if MODE_ACRO_ENABLED == ENABLED
// @Param: ACRO_TRAINER // @Param: ACRO_TRAINER
// @DisplayName: Acro Trainer // @DisplayName: Acro Trainer
// @Description: Type of trainer used in acro mode // @Description: Type of trainer used in acro mode
@ -556,6 +559,7 @@ const AP_Param::Info Copter::var_info[] = {
// @Range: -0.5 1.0 // @Range: -0.5 1.0
// @User: Advanced // @User: Advanced
GSCALAR(acro_rp_expo, "ACRO_RP_EXPO", ACRO_RP_EXPO_DEFAULT), GSCALAR(acro_rp_expo, "ACRO_RP_EXPO", ACRO_RP_EXPO_DEFAULT),
#endif
// variables not in the g class which contain EEPROM saved variables // variables not in the g class which contain EEPROM saved variables