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px4-firmware
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delete CBRK_RATE_CTRL

This commit is contained in:
Daniel Agar 2022-07-11 18:48:25 -04:00
parent 67107f4978
commit 8f8615e6c2
4 changed files with 2 additions and 23 deletions
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1
src/lib/circuit_breaker/circuit_breaker.h
View File

@ -52,7 +52,6 @@
#define CBRK_BUZZER_KEY 782097
#define CBRK_SUPPLY_CHK_KEY 894281
#define CBRK_RATE_CTRL_KEY 140253
#define CBRK_IO_SAFETY_KEY 22027
#define CBRK_AIRSPD_CHK_KEY 162128
#define CBRK_FLIGHTTERM_KEY 121212

15
src/lib/circuit_breaker/circuit_breaker_params.c
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@ -56,21 +56,6 @@
*/
PARAM_DEFINE_INT32(CBRK_SUPPLY_CHK, 0);
/**
* Circuit breaker for rate controller output
*
* Setting this parameter to 140253 will disable the rate
* controller uORB publication.
* WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
*
* @reboot_required true
* @min 0
* @max 140253
* @category Developer
* @group Circuit Breaker
*/
PARAM_DEFINE_INT32(CBRK_RATE_CTRL, 0);
/**
* Circuit breaker for IO safety
*

4
src/modules/mc_rate_control/MulticopterRateControl.cpp
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@ -94,8 +94,6 @@ MulticopterRateControl::parameters_updated()
// manual rate control acro mode rate limits
_acro_rate_max = Vector3f(radians(_param_mc_acro_r_max.get()), radians(_param_mc_acro_p_max.get()),
radians(_param_mc_acro_y_max.get()));
_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled_by_val(_param_cbrk_rate_ctrl.get(), CBRK_RATE_CTRL_KEY);
}
void
@ -207,7 +205,7 @@ MulticopterRateControl::Run()
}
// run the rate controller
if (_vehicle_control_mode.flag_control_rates_enabled && !_actuators_0_circuit_breaker_enabled) {
if (_vehicle_control_mode.flag_control_rates_enabled) {
// reset integral if disarmed
if (!_vehicle_control_mode.flag_armed || _vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {

5
src/modules/mc_rate_control/MulticopterRateControl.hpp
View File

@ -124,7 +124,6 @@ private:
vehicle_control_mode_s _vehicle_control_mode{};
vehicle_status_s _vehicle_status{};
bool _actuators_0_circuit_breaker_enabled{false}; /**< circuit breaker to suppress output */
bool _landed{true};
bool _maybe_landed{true};
@ -176,8 +175,6 @@ private:
(ParamFloat<px4::params::MC_ACRO_SUPEXPO>) _param_mc_acro_supexpo, /**< superexpo stick curve shape (roll & pitch) */
(ParamFloat<px4::params::MC_ACRO_SUPEXPOY>) _param_mc_acro_supexpoy, /**< superexpo stick curve shape (yaw) */
(ParamBool<px4::params::MC_BAT_SCALE_EN>) _param_mc_bat_scale_en,
(ParamInt<px4::params::CBRK_RATE_CTRL>) _param_cbrk_rate_ctrl
(ParamBool<px4::params::MC_BAT_SCALE_EN>) _param_mc_bat_scale_en
)
};