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Commander: remove COM_ARM_ARSP_EN

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Since we changed the threshold for allowing arming from TRIM/2 to AIRSPEED_MAX
is is very unlikely that one needs to disable this check.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-06-19 10:39:44 +02:00
parent decf1ac0a8
commit 88c5565a29
3 changed files with 3 additions and 17 deletions
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5
src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp
View File

@ -79,8 +79,7 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter)
}
}
if (!context.isArmed() && _param_com_arm_arsp_en.get()
&& fabsf(airspeed_validated.calibrated_airspeed_m_s) > arming_max_airspeed_allowed) {
if (!context.isArmed() && fabsf(airspeed_validated.calibrated_airspeed_m_s) > arming_max_airspeed_allowed) {
/* EVENT
* @description
* Current airspeed reading too high. Check if wind is below maximum airspeed and redo airspeed
@ -89,7 +88,7 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter)
* <profile name="dev">
* Measured: {1:.1m/s}, limit: {2:.1m/s}.
*
* This check can be configured via <param>COM_ARM_ARSP_EN</param> and <param>FW_AIRSPD_MAX</param> parameter.
* This check can be configured via <param>FW_AIRSPD_MAX</param> parameter.
* </profile>
*/
reporter.armingCheckFailure<float, float>(NavModes::None, health_component_t::differential_pressure,

3
src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp
View File

@ -53,7 +53,6 @@ private:
const param_t _param_fw_airspd_max_handle;
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamInt<px4::params::CBRK_AIRSPD_CHK>) _param_cbrk_airspd_chk,
(ParamBool<px4::params::COM_ARM_ARSP_EN>) _param_com_arm_arsp_en
(ParamInt<px4::params::CBRK_AIRSPD_CHK>) _param_cbrk_airspd_chk
)
};

12
src/modules/commander/commander_params.c
View File

@ -955,18 +955,6 @@ PARAM_DEFINE_INT32(COM_POWER_COUNT, 1);
*/
PARAM_DEFINE_FLOAT(COM_LKDOWN_TKO, 3.0f);
/**
* Enable preflight check for maximal allowed airspeed when arming.
*
* Deny arming if the current airspeed measurement is greater than half the cruise airspeed (FW_AIRSPD_TRIM).
* Excessive airspeed measurements on ground are either caused by wind or bad airspeed calibration.
*
* @group Commander
* @value 0 Disabled
* @value 1 Enabled
*/
PARAM_DEFINE_INT32(COM_ARM_ARSP_EN, 1);
/**
* Enable FMU SD card detection check
*