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AP_Motors_Heli: remove unused allow_arming check

This commit is contained in:
Randy Mackay 2015-10-15 15:03:22 +09:00
parent b49fda4a94
commit ca942f39dd
3 changed files with 0 additions and 18 deletions
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3
libraries/AP_Motors/AP_MotorsHeli.h
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@ -98,9 +98,6 @@ public:
// heli specific methods // heli specific methods
// //
// allow_arming - returns true if main rotor is spinning and it is ok to arm
virtual bool allow_arming() const = 0;
// parameter_check - returns true if helicopter specific parameters are sensible, used for pre-arm check // parameter_check - returns true if helicopter specific parameters are sensible, used for pre-arm check
bool parameter_check(bool display_msg) const; bool parameter_check(bool display_msg) const;

12
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -208,18 +208,6 @@ void AP_MotorsHeli_Single::output_test(uint8_t motor_seq, int16_t pwm)
} }
} }
// allow_arming - check if it's safe to arm
bool AP_MotorsHeli_Single::allow_arming() const
{
// returns false if main rotor speed is not zero
if (_main_rotor.get_rotor_speed() > 0) {
return false;
}
// all other cases it is OK to arm
return true;
}
// set_desired_rotor_speed // set_desired_rotor_speed
void AP_MotorsHeli_Single::set_desired_rotor_speed(int16_t desired_speed) void AP_MotorsHeli_Single::set_desired_rotor_speed(int16_t desired_speed)
{ {

3
libraries/AP_Motors/AP_MotorsHeli_Single.h
View File

@ -80,9 +80,6 @@ public:
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000 // pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void output_test(uint8_t motor_seq, int16_t pwm); void output_test(uint8_t motor_seq, int16_t pwm);
// allow_arming - returns true if main rotor is spinning and it is ok to arm
bool allow_arming() const;
// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000 // set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000
void set_desired_rotor_speed(int16_t desired_speed); void set_desired_rotor_speed(int16_t desired_speed);