From 4e2f3e76004d70bcdeb49ac1050583bee7254c0b Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 19 Mar 2026 20:01:32 +0100 Subject: [PATCH] refactor(commander): remove unused parameter COM_HLDL_REG_T (#26809) --- .../amovlab_f410/amovlabf410_drone_v1.15.4.params | 1 - src/modules/commander/Commander.cpp | 5 +---- src/modules/commander/Commander.hpp | 1 - src/modules/commander/commander_params.c | 13 ------------- 4 files changed, 1 insertion(+), 19 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 a5cd2767e9..b31a34f073 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 @@ -304,7 +304,6 @@ 1 1 COM_FLT_TIME_MAX -1 6 1 1 COM_FORCE_SAFETY 0 6 1 1 COM_HLDL_LOSS_T 120 6 -1 1 COM_HLDL_REG_T 0 6 1 1 COM_HOME_EN 1 6 1 1 COM_HOME_IN_AIR 0 6 1 1 COM_IMB_PROP_ACT 0 6 diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index bd1ac421bc..f423bdf1df 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -2784,10 +2784,7 @@ void Commander::dataLinkCheck() _high_latency_datalink_regained = _high_latency_datalink_timestamp; } - if (_vehicle_status.high_latency_data_link_lost && - (_high_latency_datalink_regained != 0) && - (hrt_elapsed_time(&_high_latency_datalink_regained) > (_param_com_hldl_reg_t.get() * 1_s)) - ) { + if (_vehicle_status.high_latency_data_link_lost && (_high_latency_datalink_regained != 0)) { _vehicle_status.high_latency_data_link_lost = false; _status_changed = true; } diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp index d933a82963..e4915fe94d 100644 --- a/src/modules/commander/Commander.hpp +++ b/src/modules/commander/Commander.hpp @@ -339,7 +339,6 @@ private: (ParamBool) _param_com_disarm_man, (ParamInt) _param_com_dl_loss_t, (ParamInt) _param_com_hldl_loss_t, - (ParamInt) _param_com_hldl_reg_t, (ParamBool) _param_com_home_en, (ParamBool) _param_com_home_in_air, (ParamBool) _param_com_force_safety, diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index 2493855137..8d079d6d10 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -109,19 +109,6 @@ PARAM_DEFINE_INT32(COM_DL_LOSS_T, 10); */ PARAM_DEFINE_INT32(COM_HLDL_LOSS_T, 120); -/** - * High Latency Datalink regain time threshold - * - * After a data link loss: after this number of seconds with a healthy datalink the 'datalink loss' - * flag is set back to false - * - * @group Commander - * @unit s - * @min 0 - * @max 60 - */ -PARAM_DEFINE_INT32(COM_HLDL_REG_T, 0); - /** * Manual control loss timeout *