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Blimp: DCM handles centrifugal correction application internally now

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This commit is contained in:
Peter Barker 2021-08-12 10:46:07 +10:00 committed by Andrew Tridgell
parent f35a94a730
commit bf7474c940
2 changed files with 0 additions and 6 deletions
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4
Blimp/AP_Arming.cpp
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@ -384,8 +384,6 @@ bool AP_Arming_Blimp::arm(const AP_Arming::Method method, const bool do_arming_c
blimp.arming_altitude_m = blimp.inertial_nav.get_altitude() * 0.01; blimp.arming_altitude_m = blimp.inertial_nav.get_altitude() * 0.01;
} }
// enable gps velocity based centrifugal force compensation
ahrs.set_correct_centrifugal(true);
hal.util->set_soft_armed(true); hal.util->set_soft_armed(true);
// finally actually arm the motors // finally actually arm the motors
@ -443,8 +441,6 @@ bool AP_Arming_Blimp::disarm(const AP_Arming::Method method, bool do_disarm_chec
AP::logger().set_vehicle_armed(false); AP::logger().set_vehicle_armed(false);
// disable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(false);
hal.util->set_soft_armed(false); hal.util->set_soft_armed(false);
blimp.ap.in_arming_delay = false; blimp.ap.in_arming_delay = false;

2
Blimp/Parameters.cpp
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@ -876,8 +876,6 @@ void Blimp::load_parameters(void)
AP_HAL::panic("Bad var table"); AP_HAL::panic("Bad var table");
} }
// disable centrifugal force correction, it will be enabled as part of the arming process
ahrs.set_correct_centrifugal(false);
hal.util->set_soft_armed(false); hal.util->set_soft_armed(false);
if (!g.format_version.load() || if (!g.format_version.load() ||