diff --git a/boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld b/boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld index 0de53ba60d..149814ec0b 100644 --- a/boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld +++ b/boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld @@ -671,7 +671,6 @@ *(.text._ZN13ManualControl12processInputEy) *(.text._ZN17CpuResourceChecks14checkAndReportERK7ContextR6Report) *(.text._ZN10GyroChecks14checkAndReportERK7ContextR6Report) -*(.text._ZN8Failsafe26fromImbalancedPropActParamEi) *(.text._ZThn24_N13BatteryStatus3RunEv) *(.text.mm_foreach) *(.text._ZN35MavlinkStreamPositionTargetLocalNed8get_sizeEv) diff --git a/boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld b/boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld index 0de53ba60d..149814ec0b 100644 --- a/boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld +++ b/boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld @@ -671,7 +671,6 @@ *(.text._ZN13ManualControl12processInputEy) *(.text._ZN17CpuResourceChecks14checkAndReportERK7ContextR6Report) *(.text._ZN10GyroChecks14checkAndReportERK7ContextR6Report) -*(.text._ZN8Failsafe26fromImbalancedPropActParamEi) *(.text._ZThn24_N13BatteryStatus3RunEv) *(.text.mm_foreach) *(.text._ZN35MavlinkStreamPositionTargetLocalNed8get_sizeEv) diff --git a/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld b/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld index b12fb9869f..94230e24df 100644 --- a/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld +++ b/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld @@ -685,7 +685,6 @@ *(.text._ZN13ManualControl12processInputEy) *(.text._ZN17CpuResourceChecks14checkAndReportERK7ContextR6Report) *(.text._ZN10GyroChecks14checkAndReportERK7ContextR6Report) -*(.text._ZN8Failsafe26fromImbalancedPropActParamEi) *(.text._ZThn24_N13BatteryStatus3RunEv) *(.text.mm_foreach) *(.text._ZN35MavlinkStreamPositionTargetLocalNed8get_sizeEv) 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 309fa4045b..703821f110 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 @@ -306,7 +306,6 @@ 1 1 COM_HLDL_LOSS_T 120 6 1 1 COM_HOME_EN 1 6 1 1 COM_HOME_IN_AIR 0 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_OBL_RC_ACT 0 6 diff --git a/src/modules/commander/HealthAndArmingChecks/checks/failureDetectorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/failureDetectorCheck.cpp index 25370a2d9b..6c273bd8cb 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/failureDetectorCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/failureDetectorCheck.cpp @@ -111,7 +111,7 @@ void FailureDetectorChecks::checkAndReport(const Context &context, Report &repor * Check that all propellers are mounted correctly and are not damaged. * * - * This check can be configured via FD_IMB_PROP_THR and COM_IMB_PROP_ACT parameters. + * This check can be configured via FD_IMB_PROP_THR parameter. * */ reporter.healthFailure(NavModes::All, health_component_t::system, events::ID("check_failure_detector_imbalanced_prop"), diff --git a/src/modules/commander/commander_params.yaml b/src/modules/commander/commander_params.yaml index 9859224f50..637f55ccb3 100644 --- a/src/modules/commander/commander_params.yaml +++ b/src/modules/commander/commander_params.yaml @@ -179,20 +179,6 @@ parameters: min: 0.0 max: 25.0 decimal: 1 - COM_IMB_PROP_ACT: - description: - short: Imbalanced propeller failsafe mode - long: |- - Action the system takes when an imbalanced propeller is detected by the failure detector. - See also FD_IMB_PROP_THR to set the failure threshold. - type: enum - values: - -1: Disabled - 0: Warning - 1: Return - 2: Land - default: 0 - increment: 1 COM_OF_LOSS_T: description: short: Offboard connection loss timeout diff --git a/src/modules/commander/failsafe/failsafe.cpp b/src/modules/commander/failsafe/failsafe.cpp index 6331b6576d..5e6cd2bfb4 100644 --- a/src/modules/commander/failsafe/failsafe.cpp +++ b/src/modules/commander/failsafe/failsafe.cpp @@ -126,33 +126,6 @@ FailsafeBase::ActionOptions Failsafe::fromGfActParam(int param_value) return options; } -FailsafeBase::ActionOptions Failsafe::fromImbalancedPropActParam(int param_value) -{ - ActionOptions options{}; - - switch (imbalanced_propeller_failsafe_mode(param_value)) { - case imbalanced_propeller_failsafe_mode::Disabled: - default: - options.action = Action::None; - break; - - case imbalanced_propeller_failsafe_mode::Warning: - options.action = Action::Warn; - break; - - case imbalanced_propeller_failsafe_mode::Return: - options.action = Action::RTL; - options.clear_condition = ClearCondition::OnModeChangeOrDisarm; - break; - - case imbalanced_propeller_failsafe_mode::Land: - options.action = Action::Land; - options.clear_condition = ClearCondition::OnModeChangeOrDisarm; - break; - } - - return options; -} FailsafeBase::ActionOptions Failsafe::fromActuatorFailureActParam(int param_value) { @@ -672,7 +645,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state, CHECK_FAILSAFE(status_flags, fd_alt_loss, Action::Warn); } - CHECK_FAILSAFE(status_flags, fd_imbalanced_prop, fromImbalancedPropActParam(_param_com_imb_prop_act.get())); + CHECK_FAILSAFE(status_flags, fd_imbalanced_prop, Action::Warn); CHECK_FAILSAFE(status_flags, fd_motor_failure, fromActuatorFailureActParam(_param_com_actuator_failure_act.get())); diff --git a/src/modules/commander/failsafe/failsafe.h b/src/modules/commander/failsafe/failsafe.h index f988ca607b..6c489af909 100644 --- a/src/modules/commander/failsafe/failsafe.h +++ b/src/modules/commander/failsafe/failsafe.h @@ -88,13 +88,6 @@ private: Terminate = 4, }; - enum class imbalanced_propeller_failsafe_mode : int32_t { - Disabled = -1, - Warning = 0, - Return = 1, - Land = 2, - }; - enum class geofence_violation_action : int32_t { None = 0, Warning = 1, @@ -169,7 +162,6 @@ private: static ActionOptions fromNavDllOrRclActParam(int param_value); static ActionOptions fromGfActParam(int param_value); - static ActionOptions fromImbalancedPropActParam(int param_value); static ActionOptions fromActuatorFailureActParam(int param_value); static ActionOptions fromBatteryWarningActParam(int param_value, uint8_t battery_warning); static ActionOptions fromQuadchuteActParam(int param_value); @@ -210,7 +202,6 @@ private: (ParamInt) _param_com_rc_in_mode, (ParamInt) _param_gf_action, (ParamFloat) _param_com_spoolup_time, - (ParamInt) _param_com_imb_prop_act, (ParamFloat) _param_com_lkdown_tko, (ParamInt) _param_cbrk_flightterm, (ParamInt) _param_com_actuator_failure_act,