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Remove SYS_COMPANION #12101

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merged 2 commits into from
May 29, 2019
Merged

Remove SYS_COMPANION #12101

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ecedd19
SYS_COMPANION: remove this parameter
bkueng May 29, 2019
2bbe7da
PX4Accelerometer,PX4Gyroscope: set_sample_rate requires a filter update
bkueng May 29, 2019
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125 changes: 0 additions & 125 deletions ROMFS/px4fmu_common/init.d/rc.mavlink
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Original file line number Diff line number Diff line change
Expand Up @@ -11,128 +11,3 @@ then
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
fi

#
# SYS_COMPANION transition support. Can be removed after the next release (currently at 1.8.0)
#
if param compare SYS_COMPANION 319200
then
param set MAV_1_CONFIG 102
param set MAV_1_RATE 1000
param set SER_TEL2_BAUD 19200
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 519200
then
param set MAV_1_CONFIG 102
param set MAV_1_MODE 7
param set MAV_1_RATE 1000
param set SER_TEL2_BAUD 19200
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 338400
then
param set MAV_1_CONFIG 102
param set MAV_1_RATE 1000
param set SER_TEL2_BAUD 38400
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 538400
then
param set MAV_1_CONFIG 102
param set MAV_1_MODE 7
param set MAV_1_RATE 1000
param set SER_TEL2_BAUD 38400
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 57600
then
param set MAV_1_CONFIG 102
param set MAV_1_MODE 2
param set MAV_1_RATE 5000
param set SER_TEL2_BAUD 57600
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 157600
then
param set MAV_1_CONFIG 102
param set MAV_1_MODE 3
param set MAV_1_RATE 1000
param set SER_TEL2_BAUD 57600
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 257600
then
param set MAV_1_CONFIG 102
param set MAV_1_MODE 4
param set MAV_1_RATE 5000
param set SER_TEL2_BAUD 57600
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 357600
then
param set MAV_1_CONFIG 102
param set MAV_1_RATE 1000
param set SER_TEL2_BAUD 57600
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 557600
then
param set MAV_1_CONFIG 102
param set MAV_1_RATE 1000
param set MAV_1_MODE 7
param set SER_TEL2_BAUD 57600
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 3115200
then
param set MAV_1_CONFIG 102
param set MAV_1_RATE 1000
param set SER_TEL2_BAUD 115200
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 4115200
then
# Iridium
param set ISBD_CONFIG 102
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 5115200
then
param set MAV_1_CONFIG 102
param set MAV_1_RATE 1000
param set MAV_1_MODE 7
param set SER_TEL2_BAUD 115200
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 460800
then
param set MAV_1_CONFIG 102
param set MAV_1_RATE 5000
param set MAV_1_MODE 2
param set SER_TEL2_BAUD 460800
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 921600
then
param set MAV_1_CONFIG 102
param set MAV_1_RATE 80000
param set MAV_1_MODE 2
param set SER_TEL2_BAUD 921600
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 1921600
then
param set MAV_1_CONFIG 102
param set MAV_1_RATE 20000
param set SER_TEL2_BAUD 921600
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 1500000
then
param set MAV_1_CONFIG 102
param set MAV_1_RATE 140000
param set MAV_1_MODE 2
param set SER_TEL2_BAUD 1500000
param set SYS_COMPANION 0
fi

2 changes: 1 addition & 1 deletion src/lib/drivers/accelerometer/PX4Accelerometer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ class PX4Accelerometer : public cdev::CDev, public ModuleParams
void set_scale(float scale) { _sensor_accel_pub.get().scaling = scale; }
void set_temperature(float temperature) { _sensor_accel_pub.get().temperature = temperature; }

void set_sample_rate(unsigned rate) { _sample_rate = rate; }
void set_sample_rate(unsigned rate) { _sample_rate = rate; _filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq()); }

void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }

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2 changes: 1 addition & 1 deletion src/lib/drivers/gyroscope/PX4Gyroscope.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ class PX4Gyroscope : public cdev::CDev, public ModuleParams
void set_scale(float scale) { _sensor_gyro_pub.get().scaling = scale; }
void set_temperature(float temperature) { _sensor_gyro_pub.get().temperature = temperature; }

void set_sample_rate(unsigned rate) { _sample_rate = rate; }
void set_sample_rate(unsigned rate) { _sample_rate = rate; _filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq()); }

void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }

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33 changes: 0 additions & 33 deletions src/lib/systemlib/system_params.c
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Expand Up @@ -110,39 +110,6 @@ PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
*/
PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2);

/**
* TELEM2 as companion computer link (deprecated)
*
* This parameter is deprecated and will be removed after 1.9.0. Use the generic serial
* configuration parameters instead (e.g. MAV_0_CONFIG, MAV_0_MODE, etc.).
*
* @value 0 Disabled
* @value 10 FrSky Telemetry
* @value 20 Crazyflie (Syslink)
* @value 921600 Companion Link (921600 baud, 8N1)
* @value 57600 Companion Link (57600 baud, 8N1)
* @value 1500000 Companion Link (1500000 baud, 8N1)
* @value 157600 OSD (57600 baud, 8N1)
* @value 257600 Command Receiver (57600 baud, 8N1)
* @value 319200 Normal Telemetry (19200 baud, 8N1)
* @value 338400 Normal Telemetry (38400 baud, 8N1)
* @value 357600 Normal Telemetry (57600 baud, 8N1)
* @value 3115200 Normal Telemetry (115200 baud, 8N1)
* @value 4115200 Iridium Telemetry (115200 baud, 8N1)
* @value 519200 Minimal Telemetry (19200 baud, 8N1)
* @value 538400 Minimal Telemetry (38400 baud, 8N1)
* @value 557600 Minimal Telemetry (57600 baud, 8N1)
* @value 5115200 Minimal Telemetry (115200 baud, 8N1)
* @value 6460800 RTPS Client (460800 baud)
* @value 1921600 ESP8266 (921600 baud, 8N1)
*
* @min 0
* @max 6460800
* @reboot_required true
* @group System
*/
PARAM_DEFINE_INT32(SYS_COMPANION, 0);

/**
* Parameter version
*
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