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Plane: remove airmode Q_OPTION

This commit is contained in:
Iampete1 2021-09-14 01:11:12 +01:00 committed by Andrew Tridgell
parent 07824fc963
commit cc89a8cc48
3 changed files with 2 additions and 11 deletions
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9
ArduPlane/AP_Arming.cpp
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@ -220,15 +220,6 @@ bool AP_Arming_Plane::arm(const AP_Arming::Method method, const bool do_arming_c
return false;
}
#if HAL_QUADPLANE_ENABLED
if ((method == Method::AUXSWITCH) && (plane.quadplane.options & QuadPlane::OPTION_AIRMODE)) {
// if no airmode switch assigned, honour the QuadPlane option bit:
if (rc().find_channel_for_option(RC_Channel::AUX_FUNC::AIRMODE) == nullptr) {
plane.quadplane.air_mode = AirMode::ON;
}
}
#endif
change_arm_state();
// rising edge of delay_arming oneshot

2
ArduPlane/quadplane.cpp
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@ -268,7 +268,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Param: OPTIONS
// @DisplayName: quadplane options
// @Description: Level Transition:Keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition, Allow FW Takeoff: If bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff, Allow FW Land:If bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND, Vtol Takeoff Frame: command NAV_VTOL_TAKEOFF altitude is as set by the command's reference frame rather than a delta above current location, Use FW Approach:Use a fixed wing approach for VTOL landings, USE QRTL:instead of QLAND for rc failsafe when in VTOL modes, Use Governor:Use ICE Idle Governor in MANUAL for forward motor, Force Qassist: on always,Mtrs_Only_Qassist: in tailsitters only, uses VTOL motors and not flying surfaces for QASSIST, Airmode_On_Arm:Airmode enabled when arming by aux switch, Disarmed Yaw Tilt:Enable motor tilt for yaw when disarmed, Delay Spoolup:Delay VTOL spoolup for 2 seconds after arming, ThrLandControl: enable throttle stick control of landing rate, DisableApproach: Disable use of approach and airbrake stages in VTOL landing, EnableLandResponsition: enable pilot controlled repositioning in AUTO land. Descent will pause while repositioning.
// @Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Use FW Approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,9:Airmode_On_Arm,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation,14:Ignore forward flight angle limits in Qmodes,15:ThrLandControl,16:DisableApproach,17:EnableLandResponsition,18:Only allow arming in Qmodes or auto
// @Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Use FW Approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation,14:Ignore forward flight angle limits in Qmodes,15:ThrLandControl,16:DisableApproach,17:EnableLandResponsition,18:Only allow arming in Qmodes or auto
AP_GROUPINFO("OPTIONS", 58, QuadPlane, options, 0),
AP_SUBGROUPEXTENSION("",59, QuadPlane, var_info2),

2
ArduPlane/quadplane.h
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@ -509,7 +509,7 @@ private:
OPTION_IDLE_GOV_MANUAL=(1<<6),
OPTION_Q_ASSIST_FORCE_ENABLE=(1<<7),
OPTION_TAILSIT_Q_ASSIST_MOTORS_ONLY=(1<<8),
OPTION_AIRMODE=(1<<9),
OPTION_AIRMODE_UNUSED=(1<<9),
OPTION_DISARMED_TILT=(1<<10),
OPTION_DELAY_ARMING=(1<<11),
OPTION_DISABLE_SYNTHETIC_AIRSPEED_ASSIST=(1<<12),