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Rover: remove trim radio functionality

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This commit is contained in:
Iampete1 2021-10-22 22:49:46 +01:00 committed by Randy Mackay
parent e158bab893
commit 72b821d9da
3 changed files with 1 additions and 26 deletions
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8
Rover/GCS_Mavlink.cpp
View File

@ -572,13 +572,7 @@ void GCS_MAVLINK_Rover::handle_change_alt_request(AP_Mission::Mission_Command &c
MAV_RESULT GCS_MAVLINK_Rover::_handle_command_preflight_calibration(const mavlink_command_long_t &packet) MAV_RESULT GCS_MAVLINK_Rover::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
{ {
if (is_equal(packet.param4, 1.0f)) { if (is_equal(packet.param6, 1.0f)) {
if (rover.trim_radio()) {
return MAV_RESULT_ACCEPTED;
} else {
return MAV_RESULT_FAILED;
}
} else if (is_equal(packet.param6, 1.0f)) {
if (rover.g2.windvane.start_direction_calibration()) { if (rover.g2.windvane.start_direction_calibration()) {
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} else { } else {

1
Rover/Rover.h
View File

@ -345,7 +345,6 @@ private:
void rudder_arm_disarm_check(); void rudder_arm_disarm_check();
void read_radio(); void read_radio();
void radio_failsafe_check(uint16_t pwm); void radio_failsafe_check(uint16_t pwm);
bool trim_radio();
// sensors.cpp // sensors.cpp
void update_compass(void); void update_compass(void);

18
Rover/radio.cpp
View File

@ -154,21 +154,3 @@ void Rover::radio_failsafe_check(uint16_t pwm)
} }
failsafe_trigger(FAILSAFE_EVENT_THROTTLE, "Radio", failed); failsafe_trigger(FAILSAFE_EVENT_THROTTLE, "Radio", failed);
} }
bool Rover::trim_radio()
{
if (!rc().has_valid_input()) {
// can't trim without valid input
return false;
}
// Store control surface trim values
// ---------------------------------
if ((channel_steer->get_radio_in() > 1400) && (channel_steer->get_radio_in() < 1600)) {
channel_steer->set_and_save_radio_trim(channel_steer->get_radio_in());
} else {
return false;
}
return true;
}