From 09cb22f7996362a58aef3426b57dda8b67151cd9 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 17 Mar 2026 16:34:34 +0100 Subject: [PATCH] refactor(commander): remove unused parameter COM_MOT_TEST_EN --- .../amovlab_f410/amovlabf410_drone_v1.15.4.params | 1 - docs/en/config/actuators.md | 1 - src/modules/commander/Commander.cpp | 4 ---- src/modules/commander/Commander.hpp | 1 - src/modules/commander/commander_params.c | 11 ----------- 5 files changed, 18 deletions(-) diff --git a/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params b/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params index 48cec71d9b..a5cd2767e9 100644 --- a/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params +++ b/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params @@ -310,7 +310,6 @@ 1 1 COM_IMB_PROP_ACT 0 6 1 1 COM_LKDOWN_TKO 3.000000000000000000 9 1 1 COM_LOW_BAT_ACT 0 6 -1 1 COM_MOT_TEST_EN 1 6 1 1 COM_OBC_LOSS_T 5.000000000000000000 9 1 1 COM_OBL_RC_ACT 0 6 1 1 COM_OBS_AVOID 0 6 diff --git a/docs/en/config/actuators.md b/docs/en/config/actuators.md index e15e5d1608..b44015bf82 100644 --- a/docs/en/config/actuators.md +++ b/docs/en/config/actuators.md @@ -660,7 +660,6 @@ For each of the tilt servos: - If a safety button is used, it must be pressed before actuator testing is allowed. - The kill-switch can still be used to stop motors immediately. - Servos do not actually move until the corresponding slider is changed. -- The parameter [COM_MOT_TEST_EN](../advanced_config/parameter_reference.md#COM_MOT_TEST_EN) can be used to completely disable actuator testing. - On the shell, [actuator_test](../modules/modules_command.md#actuator-test) can be used as well for actuator testing. - VTOLs will automatically turn off motors pointing upwards during **fixed-wing flight**: - Standard VTOL : Motors defined as multicopter motors will be turned off diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 98e3796f38..0a7a05172c 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -1671,10 +1671,6 @@ unsigned Commander::handleCommandActuatorTest(const vehicle_command_s &cmd) return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED; } - if (_param_com_mot_test_en.get() != 1) { - return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED; - } - actuator_test_s actuator_test{}; actuator_test.timestamp = hrt_absolute_time(); actuator_test.function = static_cast(lroundf(cmd.param5)); diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp index 5681cec022..d933a82963 100644 --- a/src/modules/commander/Commander.hpp +++ b/src/modules/commander/Commander.hpp @@ -343,7 +343,6 @@ private: (ParamBool) _param_com_home_en, (ParamBool) _param_com_home_in_air, (ParamBool) _param_com_force_safety, - (ParamBool) _param_com_mot_test_en, (ParamFloat) _param_com_obc_loss_t, (ParamInt) _param_com_prearm_mode, (ParamInt) _param_com_rc_override, diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index a32675aeb1..2493855137 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -699,17 +699,6 @@ PARAM_DEFINE_INT32(COM_PREARM_MODE, 0); */ PARAM_DEFINE_INT32(COM_FORCE_SAFETY, 0); -/** - * Enable Actuator Testing - * - * If set, enables the actuator test interface via MAVLink (ACTUATOR_TEST), that - * allows spinning the motors and moving the servos for testing purposes. - * - * @boolean - * @group Commander - */ -PARAM_DEFINE_INT32(COM_MOT_TEST_EN, 1); - /** * Maximum allowed CPU load to still arm. *