From b6394af0a7277d5897cbc474a5e69b10c052dea3 Mon Sep 17 00:00:00 2001 From: Don Gagne Date: Thu, 13 Aug 2015 18:23:00 -0400 Subject: [PATCH] Remove MIN/MAX/TRIM as cal trigger --- src/AutoPilotPlugins/PX4/RadioComponent.cc | 39 ++-------------------- 1 file changed, 2 insertions(+), 37 deletions(-) diff --git a/src/AutoPilotPlugins/PX4/RadioComponent.cc b/src/AutoPilotPlugins/PX4/RadioComponent.cc index 6d553d57f..94d1fb493 100644 --- a/src/AutoPilotPlugins/PX4/RadioComponent.cc +++ b/src/AutoPilotPlugins/PX4/RadioComponent.cc @@ -67,32 +67,6 @@ bool RadioComponent::setupComplete(void) const } } - // Check for min/max/trim defaults for channel 1-4 - - static const int rcMinDefault = 1000; - static const int rcMaxDefault = 2000; - static const int rcTrimDefault = 1500; - - for (int i=1; i<5; i++) { - QVariant value; - int rcMin, rcMax, rcTrim; - - QString param; - - param = QString("RC%1_MIN").arg(i); - rcMin = _autopilot->getParameterFact(FactSystem::defaultComponentId, param)->value().toInt(); - - param = QString("RC%1_MAX").arg(i); - rcMax = _autopilot->getParameterFact(FactSystem::defaultComponentId, param)->value().toInt(); - - param = QString("RC%1_TRIM").arg(i); - rcTrim = _autopilot->getParameterFact(FactSystem::defaultComponentId, param)->value().toInt(); - - if (rcMin == rcMinDefault && rcMax == rcMaxDefault && rcTrim == rcTrimDefault) { - return false; - } - } - return true; } @@ -112,20 +86,11 @@ QStringList RadioComponent::setupCompleteChangedTriggerList(void) const { QStringList triggers; - // The best we can do to detect the need for a radio calibration is look for trim/min/max still being - // at defaults. We also look for attitude controls to be mapped. But since they default to channels - // they are not a very reliable source. + // The best we can do to detect the need for a radio calibration is look for attitude + // controls to be mapped. - // Attitude control mapping is always a trigger triggers << "RC_MAP_ROLL" << "RC_MAP_PITCH" << "RC_MAP_YAW" << "RC_MAP_THROTTLE"; - // We also trigger on min/max/trim for channels 1-4 which would normally be the attitude - // control channels. This may not always be the case, but it's the best we can - triggers << "RC1_MIN" << "RC1_MAX" << "RC1_TRIM"; - triggers << "RC2_MIN" << "RC2_MAX" << "RC2_TRIM"; - triggers << "RC3_MIN" << "RC3_MAX" << "RC3_TRIM"; - triggers << "RC4_MIN" << "RC4_MAX" << "RC4_TRIM"; - return triggers; } -- 2.22.0