From 99746a2a860d395fa152ce4ea519bdf4a376ec05 Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Thu, 15 Sep 2022 23:06:21 +0200
Subject: [PATCH] [ABK] Removed mach control for Roccaraso
---
.../AirBrakesController/AirBrakesController.cpp | 9 +++++++--
1 file changed, 7 insertions(+), 2 deletions(-)
diff --git a/src/boards/Main/StateMachines/AirBrakesController/AirBrakesController.cpp b/src/boards/Main/StateMachines/AirBrakesController/AirBrakesController.cpp
index 4f16ac3ad..ff64e2e48 100644
--- a/src/boards/Main/StateMachines/AirBrakesController/AirBrakesController.cpp
+++ b/src/boards/Main/StateMachines/AirBrakesController/AirBrakesController.cpp
@@ -63,11 +63,16 @@ bool AirBrakesController::start()
void AirBrakesController::update()
{
+#ifndef ROCCARASO
auto currentPoint =
TimedTrajectoryPoint{NASController::getInstance().getNasState()};
+#endif
- if (!abk.isRunning() && status.state == AirBrakesControllerState::ACTIVE &&
- currentPoint.getMac() < MACH_LIMIT)
+ if (!abk.isRunning() && status.state == AirBrakesControllerState::ACTIVE
+#ifndef ROCCARASO
+ && currentPoint.getMac() < MACH_LIMIT
+#endif
+ )
abk.begin();
abk.update();
--
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