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Rover: removed demo_servos()

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doesn't do much good on rovers, and just slows boot
This commit is contained in:
Andrew Tridgell 2013-10-21 11:40:17 +11:00
parent fdc551dd14
commit 20ae1b7bc3
3 changed files with 0 additions and 32 deletions
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19
APMrover2/Steering.pde
View File

@ -242,23 +242,4 @@ static void set_servos(void)
#endif
}
static bool demoing_servos;
static void demo_servos(uint8_t i) {
while(i > 0) {
gcs_send_text_P(SEVERITY_LOW,PSTR("Demo Servos!"));
demoing_servos = true;
#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
hal.rcout->write(1, 1400);
mavlink_delay(400);
hal.rcout->write(1, 1600);
mavlink_delay(200);
hal.rcout->write(1, 1500);
#endif
demoing_servos = false;
mavlink_delay(400);
i--;
}
}

3
APMrover2/failsafe.pde
View File

@ -42,9 +42,6 @@ static void failsafe_check()
last_timestamp = tnow;
hal.rcin->clear_overrides();
uint8_t start_ch = 0;
if (demoing_servos) {
start_ch = 1;
}
for (uint8_t ch=start_ch; ch<4; ch++) {
hal.rcout->write(ch, hal.rcin->read(ch));
}

10
APMrover2/system.pde
View File

@ -222,11 +222,6 @@ static void startup_ground(void)
delay(GROUND_START_DELAY * 1000);
#endif
// Makes the servos wiggle
// step 1 = 1 wiggle
// -----------------------
demo_servos(1);
//IMU ground start
//------------------------
//
@ -241,10 +236,6 @@ static void startup_ground(void)
// -------------------
init_commands();
// Makes the servos wiggle - 3 times signals ready to fly
// -----------------------
demo_servos(3);
hal.uartA->set_blocking_writes(false);
hal.uartC->set_blocking_writes(false);
@ -341,7 +332,6 @@ static void startup_INS_ground(bool force_accel_level)
// Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
// -----------------------
demo_servos(2);
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning INS calibration; do not move vehicle"));
mavlink_delay(1000);