diff --git a/src/boards/Main/Configs/AirBrakesControllerConfig.h b/src/boards/Main/Configs/AirBrakesControllerConfig.h index 29b0d580d7cc467afac80376ea171331ae8bbffe..91ef5d05f5752aee553c59ab9c7bf898c75791e6 100644 --- a/src/boards/Main/Configs/AirBrakesControllerConfig.h +++ b/src/boards/Main/Configs/AirBrakesControllerConfig.h @@ -34,13 +34,11 @@ namespace AirBrakesControllerConfig constexpr uint32_t UPDATE_PERIOD = 100; // 10 hz #ifdef EUROC -static constexpr int SHADOW_MODE_TIMEOUT = 5 * 1000; +static constexpr int SHADOW_MODE_TIMEOUT = 5.4 * 1000; #else static constexpr int SHADOW_MODE_TIMEOUT = 3.8 * 1000; #endif -constexpr float MACH_LIMIT = 0.8; - // Vertical speed limit beyond which the airbrakes need to be disabled. constexpr float DISABLE_VERTICAL_SPEED_TARGET = 10.0; diff --git a/src/boards/Main/StateMachines/AirBrakesController/AirBrakesController.cpp b/src/boards/Main/StateMachines/AirBrakesController/AirBrakesController.cpp index f4fad290417aeb5d2175dfb68468ff1066894f0d..04935e1c7e40fda9da785cabb74dedea06289d8b 100644 --- a/src/boards/Main/StateMachines/AirBrakesController/AirBrakesController.cpp +++ b/src/boards/Main/StateMachines/AirBrakesController/AirBrakesController.cpp @@ -66,16 +66,7 @@ bool AirBrakesController::start() void AirBrakesController::update() { -#ifndef ROCCARASO - auto currentPoint = - TimedTrajectoryPoint{NASController::getInstance().getNasState()}; -#endif - - if (!abk.isRunning() && status.state == AirBrakesControllerState::ACTIVE -#ifndef ROCCARASO - && currentPoint.getMac() < MACH_LIMIT -#endif - ) + if (!abk.isRunning() && status.state == AirBrakesControllerState::ACTIVE) abk.begin(); abk.update();