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Blimp: remove vestiges of AHRS trim-from-rc-sticks functionality

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This was definitely not working (no caller to auto_trim()), and has probably subtly broken in several other ways since it has not been autotested.

If this feature is wanted in the future then factoring Copter's support up into RC_Channel (and possible AP_Vehicle) is probably the way to do this.

we're moving towards using an RC aux switch for this functionality.

Blimp doesn't currently have suport for this functionality (lacking a call
This commit is contained in:
Peter Barker 2025-01-29 17:07:07 +11:00 committed by Peter Barker
parent 145dc2cd16
commit b931baa8fd
3 changed files with 1 additions and 92 deletions
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9
Blimp/Blimp.h
View File

@ -239,10 +239,6 @@ private:
// arm_time_ms - Records when vehicle was armed. Will be Zero if we are disarmed.
uint32_t arm_time_ms;
// Used to exit the roll and pitch auto trim function
uint8_t auto_trim_counter;
bool auto_trim_started = false;
// last valid RC input time
uint32_t last_radio_update_ms;
@ -412,11 +408,6 @@ private:
bool rangefinder_alt_ok();
bool rangefinder_up_ok();
// RC_Channel.cpp
void save_trim();
void auto_trim();
void auto_trim_cancel();
// system.cpp
void init_ardupilot() override;
void startup_INS_ground();

74
Blimp/RC_Channel_Blimp.cpp
View File

@ -106,14 +106,6 @@ bool RC_Channel_Blimp::do_aux_function(const AuxFuncTrigger &trigger)
switch (ch_option) {
case AUX_FUNC::SAVE_TRIM:
if ((ch_flag == AuxSwitchPos::HIGH) &&
(blimp.control_mode <= Mode::Number::MANUAL) &&
(blimp.channel_up->get_control_in() == 0)) {
blimp.save_trim();
}
break;
case AUX_FUNC::LOITER:
do_aux_function_change_mode(Mode::Number::LOITER, ch_flag);
break;
@ -127,69 +119,3 @@ bool RC_Channel_Blimp::do_aux_function(const AuxFuncTrigger &trigger)
}
return true;
}
// save_trim - adds roll and pitch trims from the radio to ahrs
void Blimp::save_trim()
{
// save roll and pitch trim
float roll_trim = ToRad((float)channel_right->get_control_in()*0.01f);
float pitch_trim = ToRad((float)channel_front->get_control_in()*0.01f);
ahrs.add_trim(roll_trim, pitch_trim);
LOGGER_WRITE_EVENT(LogEvent::SAVE_TRIM);
gcs().send_text(MAV_SEVERITY_INFO, "Trim saved");
}
// auto_trim - slightly adjusts the ahrs.roll_trim and ahrs.pitch_trim towards the current stick positions
// meant to be called continuously while the pilot attempts to keep the blimp level
void Blimp::auto_trim_cancel()
{
auto_trim_counter = 0;
AP_Notify::flags.save_trim = false;
gcs().send_text(MAV_SEVERITY_INFO, "AutoTrim cancelled");
}
void Blimp::auto_trim()
{
if (auto_trim_counter > 0) {
if (blimp.flightmode != &blimp.mode_manual ||
!blimp.motors->armed()) {
auto_trim_cancel();
return;
}
// flash the leds
AP_Notify::flags.save_trim = true;
if (!auto_trim_started) {
if (ap.land_complete) {
// haven't taken off yet
return;
}
auto_trim_started = true;
}
if (ap.land_complete) {
// landed again.
auto_trim_cancel();
return;
}
auto_trim_counter--;
// calculate roll trim adjustment
float roll_trim_adjustment = ToRad((float)channel_right->get_control_in() / 4000.0f);
// calculate pitch trim adjustment
float pitch_trim_adjustment = ToRad((float)channel_front->get_control_in() / 4000.0f);
// add trim to ahrs object
// save to eeprom on last iteration
ahrs.add_trim(roll_trim_adjustment, pitch_trim_adjustment, (auto_trim_counter == 0));
// on last iteration restore leds and accel gains to normal
if (auto_trim_counter == 0) {
AP_Notify::flags.save_trim = false;
gcs().send_text(MAV_SEVERITY_INFO, "AutoTrim: Trims saved");
}
}
}

10
Blimp/motors.cpp
View File

@ -2,7 +2,6 @@
#define ARM_DELAY 20 // called at 10hz so 2 seconds
#define DISARM_DELAY 20 // called at 10hz so 2 seconds
#define AUTO_TRIM_DELAY 100 // called at 10hz so 10 seconds
#define LOST_VEHICLE_DELAY 10 // called at 10hz so 1 second
// arm_motors_check - checks for pilot input to arm or disarm the blimp
@ -29,7 +28,7 @@ void Blimp::arm_motors_check()
if (yaw_in > 900) {
// increase the arming counter to a maximum of 1 beyond the auto trim counter
if (arming_counter <= AUTO_TRIM_DELAY) {
if (arming_counter < ARM_DELAY) {
arming_counter++;
}
@ -41,13 +40,6 @@ void Blimp::arm_motors_check()
}
}
// arm the motors and configure for flight
if (arming_counter == AUTO_TRIM_DELAY && motors->armed() && control_mode == Mode::Number::MANUAL) {
gcs().send_text(MAV_SEVERITY_INFO, "AutoTrim start");
auto_trim_counter = 250;
auto_trim_started = false;
}
// full left and rudder disarming is enabled
} else if ((yaw_in < -900) && (arming_rudder == AP_Arming::RudderArming::ARMDISARM)) {
if (!flightmode->has_manual_throttle() && !ap.land_complete) {