From a7f78cf55d51e5dc6fc3f1d7e9e2a0759d661a0b Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Tue, 11 Oct 2022 18:03:00 +0100
Subject: [PATCH] [AirBrakes] Removed mach control
---
src/boards/Main/Configs/AirBrakesControllerConfig.h | 4 +---
.../AirBrakesController/AirBrakesController.cpp | 11 +----------
2 files changed, 2 insertions(+), 13 deletions(-)
diff --git a/src/boards/Main/Configs/AirBrakesControllerConfig.h b/src/boards/Main/Configs/AirBrakesControllerConfig.h
index 29b0d580d..91ef5d05f 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 f4fad2904..04935e1c7 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();
--
GitLab