From d256ffc96dd9103c53445d3ff07040c7fc7538f4 Mon Sep 17 00:00:00 2001 From: Michelle Rossouw Date: Tue, 20 Aug 2024 18:39:33 +1000 Subject: [PATCH] tmp --- Blimp/mode_level.cpp | 10 +++++----- libraries/AP_Arming/AP_Arming.cpp | 8 ++++---- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/Blimp/mode_level.cpp b/Blimp/mode_level.cpp index 5abb9a35cf417..2a443425d1ccb 100644 --- a/Blimp/mode_level.cpp +++ b/Blimp/mode_level.cpp @@ -8,12 +8,12 @@ bool ModeLevel::init(bool ignore_checks) if (is_zero(blimp.loiter->level_max)){ GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "LOIT_LVLMAX is zero. Leveling is disabled."); } - if (is_zero(blimp.loiter->max_vel_yaws)){ - GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "LOIT_MAX_VEL_YAWS is zero. Yaw rate stabilization is manual."); - } if (is_zero(blimp.loiter->max_vel_zs)){ GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "LOIT_MAX_VEL_ZS is zero. Z rate stabilization is manual."); } + if (is_zero(blimp.loiter->max_vel_yaws)){ + GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "LOIT_MAX_VEL_YAWS is zero. Yaw rate stabilization is manual."); + } return true; } @@ -26,12 +26,12 @@ void ModeLevel::run() float out_right_com = pilot.y*g.max_man_thr; float out_front_com = pilot.x*g.max_man_thr; - float out_yaw_com = pilot_yaw*g.max_man_thr; float out_down_com = pilot.z*g.max_man_thr; + float out_yaw_com = pilot_yaw*g.max_man_thr; loiter->run_level_roll(out_right_com); loiter->run_level_pitch(out_front_com); - loiter->run_yaw_stab(out_yaw_com); loiter->run_down_stab(out_down_com); + loiter->run_yaw_stab(out_yaw_com); } diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp index 41ec47659d650..5580596e4a448 100644 --- a/libraries/AP_Arming/AP_Arming.cpp +++ b/libraries/AP_Arming/AP_Arming.cpp @@ -466,10 +466,10 @@ bool AP_Arming::ins_checks(bool report) } // check all gyros are giving consistent readings - if (!ins_gyros_consistent(ins)) { - check_failed(ARMING_CHECK_INS, report, "Gyros inconsistent"); - return false; - } + // if (!ins_gyros_consistent(ins)) { + // check_failed(ARMING_CHECK_INS, report, "Gyros inconsistent"); + // return false; + // } // no arming while doing temp cal if (ins.temperature_cal_running()) {