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Blimp: remove duplicated and unused params #20381

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Mar 28, 2022
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Blimp: remove duplicated and unused params #20381

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48 changes: 7 additions & 41 deletions Blimp/Parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,7 @@ const AP_Param::Info Blimp::var_info[] = {
// @Param: FS_GCS_ENABLE
// @DisplayName: Ground Station Failsafe Enable
// @Description: Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled.
// @Values: 0:Disabled/NoAction,1:RTL,2:RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS),3:SmartRTL or RTL,4:SmartRTL or Land,5:Land (4.0+ Only)
// @Values: 0:Disabled/NoAction,5:Land
// @User: Standard
GSCALAR(failsafe_gcs, "FS_GCS_ENABLE", FS_GCS_DISABLED),

Expand All @@ -116,7 +116,7 @@ const AP_Param::Info Blimp::var_info[] = {
// @Param: FS_THR_ENABLE
// @DisplayName: Throttle Failsafe Enable
// @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
// @Values: 0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode (Removed in 4.0+),3:Enabled always Land,4:Enabled always SmartRTL or RTL,5:Enabled always SmartRTL or Land
// @Values: 0:Disabled,3:Enabled always Land
// @User: Standard
GSCALAR(failsafe_throttle, "FS_THR_ENABLE", FS_THR_ENABLED_ALWAYS_RTL),

Expand All @@ -141,7 +141,7 @@ const AP_Param::Info Blimp::var_info[] = {
// @Param: FLTMODE1
// @DisplayName: Flight Mode 1
// @Description: Flight mode when Channel 5 pwm is <= 1230
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag,25:SystemID,26:Heli_Autorotate
// @Values: 0:LAND,1:MANUAL,2:VELOCITY,3:LOITER
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I personally like lower case.. but not a blocker..

// @User: Standard
GSCALAR(flight_mode1, "FLTMODE1", (uint8_t)FLIGHT_MODE_1),

Expand Down Expand Up @@ -189,7 +189,7 @@ const AP_Param::Info Blimp::var_info[] = {

// @Param: INITIAL_MODE
// @DisplayName: Initial flight mode
// @Description: This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.
// @Description: This selects the mode to start in on boot.
// @CopyValuesFrom: FLTMODE1
// @User: Advanced
GSCALAR(initial_mode, "INITIAL_MODE", (uint8_t)Mode::Number::MANUAL),
Expand All @@ -201,21 +201,6 @@ const AP_Param::Info Blimp::var_info[] = {
// @User: Standard
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),

// @Param: TUNE
// @DisplayName: Channel 6 Tuning
// @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
// @User: Standard
// @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,56:Rate Yaw Filter,55:Motor Yaw Headroom,14:AltHold kP,7:Throttle Rate kP,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,12:Loiter Pos kP,22:Velocity XY kP,28:Velocity XY kI,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,45:RC Feel,13:Heli Ext Gyro,38:Declination,39:Circle Rate,41:RangeFinder Gain,46:Rate Pitch kP,47:Rate Pitch kI,48:Rate Pitch kD,49:Rate Roll kP,50:Rate Roll kI,51:Rate Roll kD,52:Rate Pitch FF,53:Rate Roll FF,54:Rate Yaw FF,58:SysID Magnitude
GSCALAR(radio_tuning, "TUNE", 0),

// @Param: FRAME_TYPE
// @DisplayName: Frame Type (+, X, V, etc)
// @Description: Controls motor mixing for multiblimps. Not used for Tri or Traditional Heliblimps.
// @Values: 0:Plus, 1:X, 2:V, 3:H, 4:V-Tail, 5:A-Tail, 10:Y6B, 11:Y6F, 12:BetaFlightX, 13:DJIX, 14:ClockwiseX, 15: I, 18: BetaFlightXReversed
// @User: Standard
// @RebootRequired: True
GSCALAR(frame_type, "FRAME_TYPE", HAL_FRAME_TYPE_DEFAULT),

// @Group: ARMING_
// @Path: ../libraries/AP_Arming/AP_Arming.cpp
GOBJECT(arming, "ARMING_", AP_Arming_Blimp),
Expand All @@ -231,7 +216,7 @@ const AP_Param::Info Blimp::var_info[] = {
// @Param: FS_EKF_ACTION
// @DisplayName: EKF Failsafe Action
// @Description: Controls the action that will be taken when an EKF failsafe is invoked
// @Values: 1:Land, 2:AltHold, 3:Land even in Stabilize
// @Values: 1:Land, 3:Land even in MANUAL
// @User: Advanced
GSCALAR(fs_ekf_action, "FS_EKF_ACTION", FS_EKF_ACTION_DEFAULT),

Expand Down Expand Up @@ -574,13 +559,6 @@ const AP_Param::Info Blimp::var_info[] = {
// @Units: Hz
// @User: Advanced

// @Param: VELYAW_FLTE
// @DisplayName: Velocity (yaw) input filter
// @Description: Velocity (yaw) input filter. This filter (in Hz) is applied to the input for D term
// @Range: 0 100
// @Units: Hz
// @User: Advanced

// @Param: VELYAW_FF
// @DisplayName: Velocity (yaw) feed forward gain
// @Description: Velocity (yaw) feed forward gain. Converts the difference between desired velocity to a target acceleration
Expand Down Expand Up @@ -822,18 +800,6 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_SUBGROUPINFO(scripting, "SCR_", 30, ParametersG2, AP_Scripting),
#endif

// @Param: TUNE_MIN
// @DisplayName: Tuning minimum
// @Description: Minimum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to
// @User: Standard
AP_GROUPINFO("TUNE_MIN", 31, ParametersG2, tuning_min, 0),

// @Param: TUNE_MAX
// @DisplayName: Tuning maximum
// @Description: Maximum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to
// @User: Standard
AP_GROUPINFO("TUNE_MAX", 32, ParametersG2, tuning_max, 0),

// @Param: FS_VIBE_ENABLE
// @DisplayName: Vibration Failsafe enable
// @Description: This enables the vibration failsafe which will use modified altitude estimation and control during high vibrations
Expand All @@ -844,8 +810,8 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Param: FS_OPTIONS
// @DisplayName: Failsafe options bitmask
// @Description: Bitmask of additional options for battery, radio, & GCS failsafes. 0 (default) disables all options.
// @Values: 0:Disabled, 1:Continue if in Auto on RC failsafe only, 2:Continue if in Auto on GCS failsafe only, 3:Continue if in Auto on RC and/or GCS failsafe, 4:Continue if in Guided on RC failsafe only, 8:Continue if landing on any failsafe, 16:Continue if in pilot controlled modes on GCS failsafe, 19:Continue if in Auto on RC and/or GCS failsafe and continue if in pilot controlled modes on GCS failsafe
// @Bitmask: 0:Continue if in Auto on RC failsafe, 1:Continue if in Auto on GCS failsafe, 2:Continue if in Guided on RC failsafe, 3:Continue if landing on any failsafe, 4:Continue if in pilot controlled modes on GCS failsafe, 5:Release Gripper
// @Values: 0:Disabled, 16:Continue if in pilot controlled modes on GCS failsafe
// @Bitmask: 4:Continue if in pilot controlled modes on GCS failsafe
// @User: Advanced
AP_GROUPINFO("FS_OPTIONS", 36, ParametersG2, fs_options, (float)Blimp::FailsafeOption::GCS_CONTINUE_IF_PILOT_CONTROL),

Expand Down
9 changes: 2 additions & 7 deletions Blimp/Parameters.h
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Expand Up @@ -148,7 +148,7 @@ class Parameters
// 140: Sensor parameters
//
k_param_compass,
k_param_frame_type,
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k_param_frame_type, //unused
k_param_ahrs, // AHRS group // 159

//
Expand All @@ -170,7 +170,7 @@ class Parameters
//
k_param_failsafe_throttle = 170,
k_param_failsafe_throttle_value,
k_param_radio_tuning,
k_param_radio_tuning, // unused
k_param_rc_speed = 192,
k_param_failsafe_gcs,
k_param_rcmap, // 199
Expand Down Expand Up @@ -235,8 +235,6 @@ class Parameters
// Misc
//
AP_Int32 log_bitmask;
AP_Int8 radio_tuning;
AP_Int8 frame_type;
AP_Int8 disarm_delay;

AP_Int8 fs_ekf_action;
Expand Down Expand Up @@ -313,9 +311,6 @@ class ParametersG2
AP_Scripting scripting;
#endif // AP_SCRIPTING_ENABLED

AP_Float tuning_min;
AP_Float tuning_max;

// vibration failsafe enable/disable
AP_Int8 fs_vibe_enabled;

Expand Down