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Delete autotune.
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parent
6e59eb235d
commit
d36da111b2
30 changed files with 8 additions and 743 deletions
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@ -70,7 +70,6 @@
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#include "flight/imu.h"
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#include "flight/altitudehold.h"
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#include "flight/failsafe.h"
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#include "flight/autotune.h"
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#include "flight/navigation.h"
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#include "flight/filter.h"
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@ -122,44 +121,6 @@ void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsD
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saveConfigAndNotify();
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}
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#ifdef AUTOTUNE
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void updateAutotuneState(void)
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{
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static bool landedAfterAutoTuning = false;
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static bool autoTuneWasUsed = false;
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if (IS_RC_MODE_ACTIVE(BOXAUTOTUNE)) {
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if (!FLIGHT_MODE(AUTOTUNE_MODE)) {
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if (ARMING_FLAG(ARMED)) {
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if (isAutotuneIdle() || landedAfterAutoTuning) {
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autotuneReset();
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landedAfterAutoTuning = false;
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}
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autotuneBeginNextPhase(¤tProfile->pidProfile);
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ENABLE_FLIGHT_MODE(AUTOTUNE_MODE);
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autoTuneWasUsed = true;
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} else {
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if (havePidsBeenUpdatedByAutotune()) {
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saveConfigAndNotify();
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autotuneReset();
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}
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}
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}
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return;
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}
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if (FLIGHT_MODE(AUTOTUNE_MODE)) {
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autotuneEndPhase();
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DISABLE_FLIGHT_MODE(AUTOTUNE_MODE);
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}
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if (!ARMING_FLAG(ARMED) && autoTuneWasUsed) {
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landedAfterAutoTuning = true;
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}
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}
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#endif
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bool isCalibrating()
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{
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#ifdef BARO
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@ -278,10 +239,6 @@ void annexCode(void)
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DISABLE_ARMING_FLAG(OK_TO_ARM);
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}
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if (IS_RC_MODE_ACTIVE(BOXAUTOTUNE)) {
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DISABLE_ARMING_FLAG(OK_TO_ARM);
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}
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if (isCalibrating()) {
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warningLedFlash();
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DISABLE_ARMING_FLAG(OK_TO_ARM);
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@ -796,10 +753,6 @@ void loop(void)
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haveProcessedAnnexCodeOnce = true;
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#endif
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#ifdef AUTOTUNE
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updateAutotuneState();
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#endif
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#ifdef MAG
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if (sensors(SENSOR_MAG)) {
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updateMagHold();
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