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Commit a7f78cf5 authored by Alberto Nidasio's avatar Alberto Nidasio
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[AirBrakes] Removed mach control

parent 4f1f97ab
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...@@ -34,13 +34,11 @@ namespace AirBrakesControllerConfig ...@@ -34,13 +34,11 @@ namespace AirBrakesControllerConfig
constexpr uint32_t UPDATE_PERIOD = 100; // 10 hz constexpr uint32_t UPDATE_PERIOD = 100; // 10 hz
#ifdef EUROC #ifdef EUROC
static constexpr int SHADOW_MODE_TIMEOUT = 5 * 1000; static constexpr int SHADOW_MODE_TIMEOUT = 5.4 * 1000;
#else #else
static constexpr int SHADOW_MODE_TIMEOUT = 3.8 * 1000; static constexpr int SHADOW_MODE_TIMEOUT = 3.8 * 1000;
#endif #endif
constexpr float MACH_LIMIT = 0.8;
// Vertical speed limit beyond which the airbrakes need to be disabled. // Vertical speed limit beyond which the airbrakes need to be disabled.
constexpr float DISABLE_VERTICAL_SPEED_TARGET = 10.0; constexpr float DISABLE_VERTICAL_SPEED_TARGET = 10.0;
......
...@@ -66,16 +66,7 @@ bool AirBrakesController::start() ...@@ -66,16 +66,7 @@ bool AirBrakesController::start()
void AirBrakesController::update() void AirBrakesController::update()
{ {
#ifndef ROCCARASO if (!abk.isRunning() && status.state == AirBrakesControllerState::ACTIVE)
auto currentPoint =
TimedTrajectoryPoint{NASController::getInstance().getNasState()};
#endif
if (!abk.isRunning() && status.state == AirBrakesControllerState::ACTIVE
#ifndef ROCCARASO
&& currentPoint.getMac() < MACH_LIMIT
#endif
)
abk.begin(); abk.begin();
abk.update(); abk.update();
......
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