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Plane: removed the old crash_timer code

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This code is less relevent with the new L1 navigation, and could cause
issues with the pilot not having control after a long dive.

Thanks to Soren for pointing out the issues

See issue #305
This commit is contained in:
Andrew Tridgell 2013-05-28 11:19:28 +10:00
parent 1d9c1628fa
commit eba7d6da9a
4 changed files with 0 additions and 21 deletions
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5
ArduPlane/ArduPlane.pde
View File

@ -323,9 +323,6 @@ static int16_t failsafe;
// Used to track if the value on channel 3 (throtttle) has fallen below the failsafe threshold // Used to track if the value on channel 3 (throtttle) has fallen below the failsafe threshold
// RC receiver should be set up to output a low throttle value when signal is lost // RC receiver should be set up to output a low throttle value when signal is lost
static bool ch3_failsafe; static bool ch3_failsafe;
// A timer used to help recovery from unusual attitudes. If we enter an unusual attitude
// while in autonomous flight this variable is used to hold roll at 0 for a recovery period
static uint8_t crash_timer;
// the time when the last HEARTBEAT message arrived from a GCS // the time when the last HEARTBEAT message arrived from a GCS
static uint32_t last_heartbeat_ms; static uint32_t last_heartbeat_ms;
@ -1025,7 +1022,6 @@ static void update_GPS(void)
static void update_current_flight_mode(void) static void update_current_flight_mode(void)
{ {
if(control_mode == AUTO) { if(control_mode == AUTO) {
crash_checker();
switch(nav_command_ID) { switch(nav_command_ID) {
case MAV_CMD_NAV_TAKEOFF: case MAV_CMD_NAV_TAKEOFF:
@ -1111,7 +1107,6 @@ static void update_current_flight_mode(void)
case RTL: case RTL:
case LOITER: case LOITER:
case GUIDED: case GUIDED:
crash_checker();
calc_nav_roll(); calc_nav_roll();
calc_nav_pitch(); calc_nav_pitch();
calc_throttle(); calc_throttle();

14
ArduPlane/Attitude.pde
View File

@ -63,10 +63,6 @@ static bool stick_mixing_enabled(void)
*/ */
static void stabilize_roll(float speed_scaler) static void stabilize_roll(float speed_scaler)
{ {
if (crash_timer > 0) {
nav_roll_cd = 0;
}
if (inverted_flight) { if (inverted_flight) {
// we want to fly upside down. We need to cope with wrap of // we want to fly upside down. We need to cope with wrap of
// the roll_sensor interfering with wrap of nav_roll, which // the roll_sensor interfering with wrap of nav_roll, which
@ -279,16 +275,6 @@ static void stabilize()
} }
static void crash_checker()
{
if(ahrs.pitch_sensor < -4500) {
crash_timer = 255;
}
if(crash_timer > 0)
crash_timer--;
}
static void calc_throttle() static void calc_throttle()
{ {
if (g.throttle_cruise <= 1) { if (g.throttle_cruise <= 1) {

1
ArduPlane/commands_logic.pde
View File

@ -232,7 +232,6 @@ static bool verify_condition_command() // Returns true if command compl
static void do_RTL(void) static void do_RTL(void)
{ {
control_mode = RTL; control_mode = RTL;
crash_timer = 0;
next_WP = home; next_WP = home;
if (g.loiter_radius < 0) { if (g.loiter_radius < 0) {

1
ArduPlane/system.pde
View File

@ -324,7 +324,6 @@ static void set_mode(enum FlightMode mode)
trim_control_surfaces(); trim_control_surfaces();
control_mode = mode; control_mode = mode;
crash_timer = 0;
switch(control_mode) switch(control_mode)
{ {