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Sub: Remove baro ground effect compensation

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This commit is contained in:
Jacob Walser 2016-11-29 19:58:15 -05:00 committed by Andrew Tridgell
parent 26fd201672
commit dd2d0711c0
3 changed files with 0 additions and 18 deletions
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1
ArduSub/APM_Config.h
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@ -35,7 +35,6 @@
// features below are disabled by default on all boards // features below are disabled by default on all boards
//#define SPRAYER ENABLED // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity) //#define SPRAYER ENABLED // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
//#define GNDEFFECT_COMPENSATION ENABLED // enable ground effect compensation for barometer (if propwash interferes with the barometer on the ground)
//#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE // disable mode changes from GCS during Radio failsafes. Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link //#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE // disable mode changes from GCS during Radio failsafes. Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link
// other settings // other settings

13
ArduSub/Sub.h
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@ -552,16 +552,6 @@ private:
uint32_t last_pilot_yaw_input_ms; uint32_t last_pilot_yaw_input_ms;
uint32_t fs_terrain_recover_start_ms = 0; uint32_t fs_terrain_recover_start_ms = 0;
#if GNDEFFECT_COMPENSATION == ENABLED
// ground effect detector
struct {
bool takeoff_expected;
bool touchdown_expected;
uint32_t takeoff_time_ms;
float takeoff_alt_cm;
} gndeffect_state;
#endif // GNDEFFECT_COMPENSATION == ENABLED
static const AP_Scheduler::Task scheduler_tasks[]; static const AP_Scheduler::Task scheduler_tasks[];
static const AP_Param::Info var_info[]; static const AP_Param::Info var_info[];
static const struct LogStructure log_structure[]; static const struct LogStructure log_structure[];
@ -856,9 +846,6 @@ private:
void update_surface_and_bottom_detector(); void update_surface_and_bottom_detector();
void set_surfaced(bool at_surface); void set_surfaced(bool at_surface);
void set_bottomed(bool at_bottom); void set_bottomed(bool at_bottom);
#if GNDEFFECT_COMPENSATION == ENABLED
void update_ground_effect_detector(void);
#endif // GNDEFFECT_COMPENSATION == ENABLED
void landinggear_update(); void landinggear_update();
void update_notify(); void update_notify();
void motor_test_output(); void motor_test_output();

4
ArduSub/config.h
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@ -156,10 +156,6 @@
# define FS_GCS_TIMEOUT_MS 2500 // gcs failsafe triggers after 5 seconds with no GCS heartbeat # define FS_GCS_TIMEOUT_MS 2500 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
#endif #endif
#ifndef GNDEFFECT_COMPENSATION
# define GNDEFFECT_COMPENSATION DISABLED
#endif
// Radio failsafe while using RC_override // Radio failsafe while using RC_override
#ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS #ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS
# define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 1000 // RC Radio failsafe triggers after 1 second while using RC_override from ground station # define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 1000 // RC Radio failsafe triggers after 1 second while using RC_override from ground station