From 9d00a3ae4d6c9ce9780a55b98cef85f5f292c4b2 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 6 Dec 2023 15:08:54 +0100 Subject: [PATCH] AirspeedSelector: remove option to disable airspeed sensor through ASPD_PRIMARY Signed-off-by: Silvan Fuhrer --- .../init.d-posix/airframes/4004_gz_standard_vtol | 1 - src/modules/airspeed_selector/airspeed_selector_main.cpp | 5 ++--- src/modules/airspeed_selector/airspeed_selector_params.c | 1 - 3 files changed, 2 insertions(+), 5 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol index 8ea63775e5..57fd1d6866 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol @@ -66,7 +66,6 @@ param set-default SIM_GZ_SV_FUNC2 202 param set-default SIM_GZ_SV_FUNC3 203 param set-default COM_RC_IN_MODE 1 -param set-default ASPD_PRIMARY 1 param set-default CA_SV_CS_COUNT 3 param set-default CA_SV_CS0_TYPE 1 diff --git a/src/modules/airspeed_selector/airspeed_selector_main.cpp b/src/modules/airspeed_selector/airspeed_selector_main.cpp index 2cd37691f0..4877ee94b6 100644 --- a/src/modules/airspeed_selector/airspeed_selector_main.cpp +++ b/src/modules/airspeed_selector/airspeed_selector_main.cpp @@ -600,9 +600,8 @@ void AirspeedModule::select_airspeed_and_publish() } // check if airspeed based on ground-wind speed is valid and can be published - if (_param_airspeed_primary_index.get() > airspeed_index::DISABLED_INDEX && - (_valid_airspeed_index < airspeed_index::FIRST_SENSOR_INDEX - || _param_airspeed_primary_index.get() == airspeed_index::GROUND_MINUS_WIND_INDEX)) { + if (_valid_airspeed_index < airspeed_index::FIRST_SENSOR_INDEX + || _param_airspeed_primary_index.get() == airspeed_index::GROUND_MINUS_WIND_INDEX) { // _vehicle_local_position_valid determines if ground-wind estimate is valid if (_vehicle_local_position_valid && diff --git a/src/modules/airspeed_selector/airspeed_selector_params.c b/src/modules/airspeed_selector/airspeed_selector_params.c index 8647fed4af..0b54d3b297 100644 --- a/src/modules/airspeed_selector/airspeed_selector_params.c +++ b/src/modules/airspeed_selector/airspeed_selector_params.c @@ -132,7 +132,6 @@ PARAM_DEFINE_FLOAT(ASPD_SCALE_3, 1.0f); /** * Index or primary airspeed measurement source * - * @value -1 Disabled * @value 0 Groundspeed minus windspeed * @value 1 First airspeed sensor * @value 2 Second airspeed sensor