From 2e63cfbcfc80b98ea930b923217a6ac249bc2248 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 6 Mar 2016 17:55:45 +0100 Subject: [PATCH] Do not check for RC map --- src/modules/commander/commander.cpp | 13 ------------- 1 file changed, 13 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 7ecda5c8c7..48a85450c8 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1090,7 +1090,6 @@ int commander_thread_main(int argc, char *argv[]) param_t _param_epv = param_find("COM_HOME_V_T"); param_t _param_geofence_action = param_find("GF_ACTION"); param_t _param_disarm_land = param_find("COM_DISARM_LAND"); - param_t _param_map_mode_sw = param_find("RC_MAP_MODE_SW"); param_t _param_fmode_1 = param_find("COM_FLTMODE1"); param_t _param_fmode_2 = param_find("COM_FLTMODE2"); @@ -1456,7 +1455,6 @@ int commander_thread_main(int argc, char *argv[]) int autosave_params; /**< Autosave of parameters enabled/disabled, loaded from parameter */ int32_t disarm_when_landed = 0; - int32_t map_mode_sw = 0; /* check which state machines for changes, clear "changed" flag */ bool arming_state_changed = false; @@ -1525,16 +1523,6 @@ int commander_thread_main(int argc, char *argv[]) get_circuit_breaker_params(); status_changed = true; - - // check if main mode switch has been assigned and if so run preflight checks in order - // to update status.condition_sensors_initialised - int32_t map_mode_sw_new; - param_get(_param_map_mode_sw, &map_mode_sw_new); - - if (map_mode_sw == 0 && map_mode_sw != map_mode_sw_new && map_mode_sw_new < input_rc_s::RC_INPUT_MAX_CHANNELS && map_mode_sw_new > 0) { - status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, - (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), !status.circuit_breaker_engaged_gpsfailure_check, hotplug_timeout); - } } /* Safety parameters */ @@ -1549,7 +1537,6 @@ int commander_thread_main(int argc, char *argv[]) param_get(_param_ef_time_thres, &ef_time_thres); param_get(_param_geofence_action, &geofence_action); param_get(_param_disarm_land, &disarm_when_landed); - param_get(_param_map_mode_sw, &map_mode_sw); /* Autostart id */ param_get(_param_autostart_id, &autostart_id);