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ArduSub: remove EKF compass offset saving from disarm

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This is now done for all vehicles by AP_Arming::disarm().

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
This commit is contained in:
Peter Barker
2026-09-04 09:29:27 +10:00
committed by Peter Barker
co-authored by Claude Opus 5
parent 11b11b8ca9
commit 15f98e6cdb
1 changed files with 0 additions and 12 deletions
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ArduSub/AP_Arming_Sub.cpp
-12
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@@ -179,18 +179,6 @@ bool AP_Arming_Sub::disarm(const AP_Arming::Method method, bool do_disarm_checks
send_arm_disarm_statustext("Disarming motors");
auto &ahrs = AP::ahrs();
// save compass offsets learned by the EKF if enabled
if (ahrs.use_compass() && AP::compass().get_learn_type() == Compass::LearnType::COPY_FROM_EKF) {
for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
Vector3f magOffsets;
if (ahrs.getMagOffsets(i, magOffsets)) {
AP::compass().set_and_save_offsets(i, magOffsets);
}
}
}
// send disarm command to motors
sub.motors.armed(false);