From 276855acd297ce8abd3ff7af8875ef441b4a0e2c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 1 Jan 2016 11:39:11 +0100 Subject: [PATCH] EKF2: Remove todo --- src/modules/ekf2/ekf2_main.cpp | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index 913b83227d..2bd5d25fa0 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -300,11 +300,10 @@ void Ekf2::task_main() lpos.ref_lon = _ekf->_posRef.lon_rad * (double)180.0 * M_PI; // Reference point longitude in degrees lpos.ref_alt = _ekf->_gps_alt_ref; // Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level - // TODO: uORB definition does not define what this variable is. We have assumed it to be heading angle in radians lying on the range from +-pi - lpos.yaw = euler(2); + // The rotation of the tangent plane vs. geographical north + lpos.yaw = 0.0f; - // TODO: Distance to surface. Units not defined. - lpos.dist_bottom = 0.0f; // Distance to bottom surface (ground) + lpos.dist_bottom = 0.0f; // Distance to bottom surface (ground) in meters lpos.dist_bottom_rate = 0.0f; // Distance to bottom surface (ground) change rate lpos.surface_bottom_timestamp = 0; // Time when new bottom surface found lpos.dist_bottom_valid = false; // true if distance to bottom surface is valid