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ArduSub: 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 000b410daa
commit f35a94a730
2 changed files with 0 additions and 6 deletions
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4
ArduSub/AP_Arming_Sub.cpp
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@ -126,8 +126,6 @@ bool AP_Arming_Sub::arm(AP_Arming::Method method, bool do_arming_checks)
} }
} }
// enable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(true);
hal.util->set_soft_armed(true); hal.util->set_soft_armed(true);
// enable output to motors // enable output to motors
@ -187,8 +185,6 @@ bool AP_Arming_Sub::disarm(const AP_Arming::Method method, bool do_disarm_checks
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);
// clear input holds // clear input holds

2
ArduSub/Parameters.cpp
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@ -688,8 +688,6 @@ void Sub::load_parameters()
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() ||