sensors delete disabled ATT_VIBE_THRESH (#8372)

src/modules/sensors/parameters.cpp

@@ -155,8 +155,6 @@ int initialize_parameter_handles(ParameterHandles &parameter_handles)
 	/* Barometer QNH */
 	parameter_handles.baro_qnh = param_find("SENS_BARO_QNH");
 
-	parameter_handles.vibe_thresh = param_find("ATT_VIBE_THRESH");
-
 	parameter_handles.air_cmodel = param_find("CAL_AIR_CMODEL");
 	parameter_handles.air_tube_length = param_find("CAL_AIR_TUBELEN");
 	parameter_handles.air_tube_diameter_mm = param_find("CAL_AIR_TUBED_MM");
@@ -490,8 +488,6 @@ int update_parameters(const ParameterHandles &parameter_handles, Parameters &par
 
 	param_get(parameter_handles.baro_qnh, &(parameters.baro_qnh));
 
-	param_get(parameter_handles.vibe_thresh, &parameters.vibration_warning_threshold);
-
 	param_get(parameter_handles.air_cmodel, &parameters.air_cmodel);
 	param_get(parameter_handles.air_tube_length, &parameters.air_tube_length);
 	param_get(parameter_handles.air_tube_diameter_mm, &parameters.air_tube_diameter_mm);

src/modules/sensors/parameters.h

@@ -144,8 +144,6 @@ struct Parameters {
 
 	float baro_qnh;
 
-	float vibration_warning_threshold;
-
 	int32_t air_cmodel;
 	float air_tube_length;
 	float air_tube_diameter_mm;
@@ -228,8 +226,6 @@ struct ParameterHandles {
 
 	param_t baro_qnh;
 
-	param_t vibe_thresh; /**< vibration threshold */
-
 	param_t air_cmodel;
 	param_t air_tube_length;
 	param_t air_tube_diameter_mm;

src/modules/sensors/sensor_params.c

@@ -208,16 +208,6 @@ PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f);
  */
 PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
 
-/**
- * Threshold (of RMS) to warn about high vibration levels
- *
- * @group Sensors
- * @min 0.01
- * @max 10
- * @decimal 2
- */
-PARAM_DEFINE_FLOAT(ATT_VIBE_THRESH, 0.2f);
-
 /**
  * Lidar-Lite (LL40LS)
  *

src/modules/sensors/sensors.cpp

@@ -690,8 +690,6 @@ Sensors::run()
 				orb_publish(ORB_ID(sensor_preflight), _sensor_preflight, &preflt);
 
 			}
-
-			//_voted_sensors_update.check_vibration(); //disabled for now, as it does not seem to be reliable
 		}
 
 		/* keep adding sensors as long as we are not armed,

src/modules/sensors/voted_sensors_update.cpp

@@ -962,34 +962,6 @@ bool VotedSensorsUpdate::check_failover(SensorData &sensor, const char *sensor_n
 	return false;
 }
 
-bool VotedSensorsUpdate::check_vibration()
-{
-	bool ret = false;
-	hrt_abstime cur_time = hrt_absolute_time();
-
-	if (!_vibration_warning && (_gyro.voter.get_vibration_factor(cur_time) > _parameters.vibration_warning_threshold ||
-				    _accel.voter.get_vibration_factor(cur_time) > _parameters.vibration_warning_threshold ||
-				    _mag.voter.get_vibration_factor(cur_time) > _parameters.vibration_warning_threshold)) {
-
-		if (_vibration_warning_timestamp == 0) {
-			_vibration_warning_timestamp = cur_time;
-
-		} else if (hrt_elapsed_time(&_vibration_warning_timestamp) > 10000 * 1000) {
-			_vibration_warning = true;
-			mavlink_log_critical(&_mavlink_log_pub, "HIGH VIBRATION! g: %d a: %d m: %d",
-					     (int)(100 * _gyro.voter.get_vibration_factor(cur_time)),
-					     (int)(100 * _accel.voter.get_vibration_factor(cur_time)),
-					     (int)(100 * _mag.voter.get_vibration_factor(cur_time)));
-			ret = true;
-		}
-
-	} else {
-		_vibration_warning_timestamp = 0;
-	}
-
-	return ret;
-}
-
 void VotedSensorsUpdate::init_sensor_class(const struct orb_metadata *meta, SensorData &sensor_data,
 		uint8_t sensor_count_max)
 {

src/modules/sensors/voted_sensors_update.h

@@ -122,13 +122,6 @@ public:
 	 */
 	void check_failover();
 
-	/**
-	 * check vibration levels and output a warning if they're high
-	 * @return true on high vibration
-	 */
-	bool check_vibration();
-
-
 	int num_gyros() const { return _gyro.subscription_count; }
 	int gyro_fd(int idx) const { return _gyro.subscription[idx]; }
 
@@ -260,9 +253,6 @@ private:
 	uint64_t _last_mag_timestamp[MAG_COUNT_MAX]; /**< latest full timestamp */
 	uint64_t _last_baro_timestamp[BARO_COUNT_MAX]; /**< latest full timestamp */
 
-	hrt_abstime _vibration_warning_timestamp = 0;
-	bool _vibration_warning = false;
-
 	math::Matrix<3, 3>	_board_rotation = {};	/**< rotation matrix for the orientation that the board is mounted */
 	math::Matrix<3, 3>	_mag_rotation[MAG_COUNT_MAX] = {};	/**< rotation matrix for the orientation that the external mag0 is mounted */