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Blimp: 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 15f98e6cdb
commit 4374aaa30a
1 changed files with 0 additions and 13 deletions
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Blimp/AP_Arming_Blimp.cpp
-13
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@@ -388,19 +388,6 @@ bool AP_Arming_Blimp::disarm(const AP_Arming::Method method, bool do_disarm_chec
send_arm_disarm_statustext("Disarming motors"); //Keeping in - usually only in SITL
auto &ahrs = AP::ahrs();
// save compass offsets learned by the EKF if enabled
Compass &compass = AP::compass();
if (ahrs.use_compass() && 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)) {
compass.set_and_save_offsets(i, magOffsets);
}
}
}
// send disarm command to motors
blimp.motors->armed(false);