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Plane: remove TRIM_AUTO param

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Iampete1 2021-09-21 22:19:19 +01:00 committed by Andrew Tridgell
parent 6ebef3fe6b
commit 8e693e5cd1
5 changed files with 1 additions and 24 deletions
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7
ArduPlane/Parameters.cpp
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@ -569,13 +569,6 @@ const AP_Param::Info Plane::var_info[] = {
// @User: Advanced // @User: Advanced
GSCALAR(ground_steer_dps, "GROUND_STEER_DPS", 90), GSCALAR(ground_steer_dps, "GROUND_STEER_DPS", 90),
// @Param: TRIM_AUTO
// @DisplayName: Automatic trim adjustment
// @Description: Enables the setting SERVOn_TRIM values to current levels when switching out of MANUAL mode. Should not be left on as mode switches while the plane is rolling or pitching can cause invalid trim values and subsequent unstable behavior. See newer and safer SERVO_AUTO_TRIM parameter for automated results.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(auto_trim, "TRIM_AUTO", AUTO_TRIM),
// @Param: MIXING_GAIN // @Param: MIXING_GAIN
// @DisplayName: Mixing Gain // @DisplayName: Mixing Gain
// @Description: The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds. // @Description: The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds.

3
ArduPlane/Parameters.h
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@ -51,7 +51,7 @@ public:
// Misc // Misc
// //
k_param_auto_trim = 10, k_param_auto_trim = 10, // unused
k_param_log_bitmask_old, // unused k_param_log_bitmask_old, // unused
k_param_pitch_trim_cd, k_param_pitch_trim_cd,
k_param_mix_mode, k_param_mix_mode,
@ -424,7 +424,6 @@ public:
// Misc // Misc
// //
AP_Int8 auto_trim;
AP_Int8 rudder_only; AP_Int8 rudder_only;
AP_Float mixing_gain; AP_Float mixing_gain;
AP_Int16 mixing_offset; AP_Int16 mixing_offset;

4
ArduPlane/fence.cpp
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@ -60,15 +60,11 @@ void Plane::fence_check()
case AC_FENCE_ACTION_GUIDED: case AC_FENCE_ACTION_GUIDED:
case AC_FENCE_ACTION_GUIDED_THROTTLE_PASS: case AC_FENCE_ACTION_GUIDED_THROTTLE_PASS:
case AC_FENCE_ACTION_RTL_AND_LAND: case AC_FENCE_ACTION_RTL_AND_LAND:
// make sure we don't auto trim the surfaces on this mode change
int8_t saved_auto_trim = g.auto_trim;
g.auto_trim.set(0);
if (fence_act == AC_FENCE_ACTION_RTL_AND_LAND) { if (fence_act == AC_FENCE_ACTION_RTL_AND_LAND) {
set_mode(mode_rtl, ModeReason::FENCE_BREACHED); set_mode(mode_rtl, ModeReason::FENCE_BREACHED);
} else { } else {
set_mode(mode_guided, ModeReason::FENCE_BREACHED); set_mode(mode_guided, ModeReason::FENCE_BREACHED);
} }
g.auto_trim.set(saved_auto_trim);
if (fence.get_return_rally() != 0 || fence_act == AC_FENCE_ACTION_RTL_AND_LAND) { if (fence.get_return_rally() != 0 || fence_act == AC_FENCE_ACTION_RTL_AND_LAND) {
guided_WP_loc = rally.calc_best_rally_or_home_location(current_loc, get_RTL_altitude_cm()); guided_WP_loc = rally.calc_best_rally_or_home_location(current_loc, get_RTL_altitude_cm());

4
ArduPlane/mode.h
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@ -279,10 +279,6 @@ public:
// methods that affect movement of the vehicle in this mode // methods that affect movement of the vehicle in this mode
void update() override; void update() override;
protected:
void _exit() override;
}; };

7
ArduPlane/mode_manual.cpp
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@ -1,13 +1,6 @@
#include "mode.h" #include "mode.h"
#include "Plane.h" #include "Plane.h"
void ModeManual::_exit()
{
if (plane.g.auto_trim > 0) {
plane.trim_radio();
}
}
void ModeManual::update() void ModeManual::update()
{ {
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.roll_in_expo(false)); SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.roll_in_expo(false));