From 88f2f7ccae00aa194ce0fbdc1e4551c771a7a5a6 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Sun, 29 Aug 2021 17:52:24 +0100 Subject: [PATCH] Plane: remove unused param OVERRIDE_SAFETY --- ArduPlane/Parameters.cpp | 8 +------- ArduPlane/Parameters.h | 3 +-- 2 files changed, 2 insertions(+), 9 deletions(-) diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp index 732918bfd4..b5b4d7d69a 100644 --- a/ArduPlane/Parameters.cpp +++ b/ArduPlane/Parameters.cpp @@ -726,17 +726,11 @@ const AP_Param::Info Plane::var_info[] = { #if HAL_WITH_IO_MCU // @Param: OVERRIDE_CHAN // @DisplayName: IO override channel - // @Description: If set to a non-zero value then this is an RC input channel number to use for giving IO manual control in case the main FMU microcontroller on a board with a IO co-processor fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the IO microcontroller will directly control the servos. Note that IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Please also see the docs on OVERRIDE_SAFETY. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on the FMU will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels on boards with an IOMCU. + // @Description: If set to a non-zero value then this is an RC input channel number to use for giving IO manual control in case the main FMU microcontroller on a board with a IO co-processor fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the IO microcontroller will directly control the servos. Note that IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on the FMU will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels on boards with an IOMCU. // @Range: 0 16 // @Increment: 1 // @User: Advanced GSCALAR(override_channel, "OVERRIDE_CHAN", 0), - - // @Param: OVERRIDE_SAFETY - // @DisplayName: IO override safety switch - // @Description: This controls whether the safety switch is turned off when you activate override with OVERRIDE_CHAN. When set to 1 the safety switch is de-activated (activating the servos) then a IO override is triggered. In that case the safety remains de-activated after override is disabled. If OVERRIDE_SAFETTY is set to 0 then the safety switch state does not change. Note that regardless of the value of this parameter the servos will be active while override is active. - // @User: Advanced - GSCALAR(override_safety, "OVERRIDE_SAFETY", 1), #endif // @Param: RTL_AUTOLAND diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h index c214c175c4..dc0c6ba942 100644 --- a/ArduPlane/Parameters.h +++ b/ArduPlane/Parameters.h @@ -144,7 +144,7 @@ public: k_param_arming = 100, k_param_parachute_channel, // unused - moved to RC option k_param_crash_accel_threshold, - k_param_override_safety, + k_param_override_safety, // unused k_param_land_throttle_slewrate, // 104 unused - moved to AP_Landing // 105: Extra parameters @@ -473,7 +473,6 @@ public: AP_Int8 flap_slewrate; #if HAL_WITH_IO_MCU AP_Int8 override_channel; - AP_Int8 override_safety; #endif AP_Int16 gcs_pid_mask; };