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EKF: remove PX4 dependant text output

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Paul Riseborough
2016-05-14 21:17:29 +10:00
parent ac9b7a3df6
commit 349c731375
2 changed files with 0 additions and 5 deletions
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EKF/ekf.cpp
-3
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@@ -313,7 +313,6 @@ bool Ekf::update()
// correct position and height for offset relative to IMU
Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
warnx("pos_offset_earth %lf %lf %lf", (double)pos_offset_earth(0)*100, (double)pos_offset_earth(1)*100, (double)pos_offset_earth(2)*100);
_ev_sample_delayed.posNED(0) -= pos_offset_earth(0);
_ev_sample_delayed.posNED(1) -= pos_offset_earth(1);
_ev_sample_delayed.posNED(2) -= pos_offset_earth(2);
@@ -407,8 +406,6 @@ bool Ekf::initialiseFilter(void)
}
}
// warnx("_params.fusion_mode & MASK_USE_EVPOS %d", (int)(_params.fusion_mode & MASK_USE_EVPOS));
// warnx("_primary_hgt_source == VDIST_SENSOR_EV %d", (int)(_primary_hgt_source == VDIST_SENSOR_EV));
// set the default height source from the adjustable parameter
if (_hgt_counter == 0) {
if (_params.fusion_mode & MASK_USE_EVPOS) {