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EKF2 remove FW_ARSP_MODE check

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Daniel Agar
2018-03-02 01:29:29 -05:00
committed by Lorenz Meier
parent 2ef9c4ec35
commit 4c4f990b3b
1 changed files with 2 additions and 8 deletions
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src/modules/ekf2/ekf2_main.cpp
+2 -8
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@@ -327,8 +327,6 @@ private:
BlockParamFloat _K_pstatic_coef_y; ///< static pressure position error coefficient along the Y body axis
BlockParamFloat _K_pstatic_coef_z; ///< static pressure position error coefficient along the Z body axis
BlockParamInt _airspeed_disabled; ///< airspeed mode parameter
};
Ekf2::Ekf2():
@@ -440,9 +438,7 @@ Ekf2::Ekf2():
_K_pstatic_coef_xp(this, "PCOEF_XP"),
_K_pstatic_coef_xn(this, "PCOEF_XN"),
_K_pstatic_coef_y(this, "PCOEF_Y"),
_K_pstatic_coef_z(this, "PCOEF_Z"),
// non EKF2 parameters
_airspeed_disabled(this, "FW_ARSP_MODE", false)
_K_pstatic_coef_z(this, "PCOEF_Z")
{
}
@@ -560,9 +556,7 @@ void Ekf2::run()
}
// Do not attempt to use airspeed if use has been disabled by the user.
if (_airspeed_disabled.get() == 0) {
orb_check(airspeed_sub, &airspeed_updated);
}
orb_check(airspeed_sub, &airspeed_updated);
if (airspeed_updated) {
orb_copy(ORB_ID(airspeed), airspeed_sub, &airspeed);