From 8e6d8797e061f037cfe184811f78a0b4b8b199d9 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 18 Mar 2026 20:25:42 +0100 Subject: [PATCH] refactor(commander): remove unused parameter COM_TAKEOFF_ACT --- .../amovlab_f410/amovlabf410_drone_v1.15.4.params | 1 - src/modules/commander/Commander.cpp | 11 ++--------- src/modules/commander/Commander.hpp | 1 - src/modules/commander/commander_params.c | 11 ----------- 4 files changed, 2 insertions(+), 22 deletions(-) diff --git a/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params b/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params index a5cd2767e9..229cc652f9 100644 --- a/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params +++ b/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params @@ -327,7 +327,6 @@ 1 1 COM_RC_OVERRIDE 1 6 1 1 COM_RC_STICK_OV 30.000000000000000000 9 1 1 COM_SPOOLUP_TIME 1.000000000000000000 9 -1 1 COM_TAKEOFF_ACT 0 6 1 1 COM_THROW_EN 0 6 1 1 COM_THROW_SPEED 5.000000000000000000 9 1 1 COM_VEL_FS_EVH 1.000000000000000000 9 diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index bd1ac421bc..e2f87cdd4a 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -2084,15 +2084,8 @@ void Commander::checkForMissionUpdate() if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF || _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF) { - // Transition mode to loiter or auto-mission after takeoff is completed. - if ((_param_com_takeoff_act.get() == 1) && auto_mission_available) { - _user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION); - - } else { - // Transition to loiter when the takeoff is completed (force into the Loiter, if mode is not executable then failsafe). - _user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, ModeChangeSource::ModeExecutor, false, - true); - } + // Transition to loiter when the takeoff is completed (force into the Loiter, if mode is not executable then failsafe). + _user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, ModeChangeSource::ModeExecutor, false, true); } else if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) { // Transition to loiter when the mission is cleared and/or finished, and we are still in mission mode. diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp index d933a82963..31d6440c71 100644 --- a/src/modules/commander/Commander.hpp +++ b/src/modules/commander/Commander.hpp @@ -348,7 +348,6 @@ private: (ParamInt) _param_com_rc_override, (ParamFloat) _param_com_spoolup_time, (ParamInt) _param_com_flight_uuid, - (ParamInt) _param_com_takeoff_act, (ParamFloat) _param_com_cpu_max ) }; diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index 2493855137..1b2b05a157 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -555,17 +555,6 @@ PARAM_DEFINE_FLOAT(COM_VEL_FS_EVH, 1.f); */ PARAM_DEFINE_INT32(COM_FLIGHT_UUID, 0); -/** - * Action after TAKEOFF has been accepted. - * - * The mode transition after TAKEOFF has completed successfully. - * - * @value 0 Hold - * @value 1 Mission (if valid) - * @group Commander - */ -PARAM_DEFINE_INT32(COM_TAKEOFF_ACT, 0); - /** * Set GCS connection loss failsafe mode *