fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: Remove the ekf pre-flight check variables that are not used in commander. (#9226)

Browse Source
This commit is contained in:
dw.xiong 2018-04-02 22:52:32 +08:00 committed by Daniel Agar
parent 3e43300e54
commit 381c2b52ac
1 changed files with 0 additions and 35 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

35
src/modules/commander/commander.cpp
View File

@ -187,17 +187,6 @@ static hrt_abstime last_lvel_fail_time_us = 0; // Last time that the local veloc
static hrt_abstime gpos_last_update_time_us = 0; // last time a global position update was received (usec)
/* pre-flight EKF checks */
static float max_ekf_pos_ratio = 0.5f;
static float max_ekf_vel_ratio = 0.5f;
static float max_ekf_hgt_ratio = 0.5f;
static float max_ekf_yaw_ratio = 0.5f;
static float max_ekf_dvel_bias = 2.0e-3f;
static float max_ekf_dang_bias = 3.5e-4f;
/* pre-flight IMU consistency checks */
static float max_imu_acc_diff = 0.7f;
static float max_imu_gyr_diff = 0.09f;
static float min_stick_change = 0.25f;
static struct vehicle_status_s status = {};
@ -1218,18 +1207,6 @@ Commander::run()
param_t _param_fmode_5 = param_find("COM_FLTMODE5");
param_t _param_fmode_6 = param_find("COM_FLTMODE6");
/* pre-flight EKF checks */
param_t _param_max_ekf_pos_ratio = param_find("COM_ARM_EKF_POS");
param_t _param_max_ekf_vel_ratio = param_find("COM_ARM_EKF_VEL");
param_t _param_max_ekf_hgt_ratio = param_find("COM_ARM_EKF_HGT");
param_t _param_max_ekf_yaw_ratio = param_find("COM_ARM_EKF_YAW");
param_t _param_max_ekf_dvel_bias = param_find("COM_ARM_EKF_AB");
param_t _param_max_ekf_dang_bias = param_find("COM_ARM_EKF_GB");
/* pre-flight IMU consistency checks */
param_t _param_max_imu_acc_diff = param_find("COM_ARM_IMU_ACC");
param_t _param_max_imu_gyr_diff = param_find("COM_ARM_IMU_GYR");
/* failsafe response to loss of navigation accuracy */
param_t _param_posctl_nav_loss_act = param_find("COM_POSCTL_NAVL");
@ -1662,18 +1639,6 @@ Commander::run()
param_get(_param_fmode_5, &_flight_mode_slots[4]);
param_get(_param_fmode_6, &_flight_mode_slots[5]);
/* pre-flight EKF checks */
param_get(_param_max_ekf_pos_ratio, &max_ekf_pos_ratio);
param_get(_param_max_ekf_vel_ratio, &max_ekf_vel_ratio);
param_get(_param_max_ekf_hgt_ratio, &max_ekf_hgt_ratio);
param_get(_param_max_ekf_yaw_ratio, &max_ekf_yaw_ratio);
param_get(_param_max_ekf_dvel_bias, &max_ekf_dvel_bias);
param_get(_param_max_ekf_dang_bias, &max_ekf_dang_bias);
/* pre-flight IMU consistency checks */
param_get(_param_max_imu_acc_diff, &max_imu_acc_diff);
param_get(_param_max_imu_gyr_diff, &max_imu_gyr_diff);
/* failsafe response to loss of navigation accuracy */
param_get(_param_posctl_nav_loss_act, &posctl_nav_loss_act);