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remove unnecessary lines

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ChristophTobler
2015-11-17 16:59:44 +01:00
parent b0515ef07d
commit 8044c5aaf6
1 changed files with 2 additions and 4 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+2 -4
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@@ -863,7 +863,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float gps_proj[2];
map_projection_project(&ref, lat, lon, &(gps_proj[0]), &(gps_proj[1]));
/* reset position estimate and ref when GPS becomes good */
/* reset position estimate when GPS becomes good */
if (reset_est) {
x_est[0] = gps_proj[0];
x_est[1] = gps.vel_n_m_s;
@@ -877,8 +877,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
est_i += EST_BUF_SIZE;
}
//mavlink_log_info(mavlink_fd, "est_i = %d\n", (int)est_i);
/* calculate correction for position */
corr_gps[0][0] = gps_proj[0] - est_buf[est_i][0][0];
corr_gps[1][0] = gps_proj[1] - est_buf[est_i][1][0];
@@ -982,7 +980,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
bool can_estimate_xy = (eph < max_eph_epv) || use_gps_xy || use_flow || use_vision_xy || use_mocap;
//mavlink_log_info(mavlink_fd, "eph = %2.6f\t gps eph = %2.4f\n", (double)eph, (double)gps.eph);
bool dist_bottom_valid = (t < lidar_valid_time + lidar_valid_timeout);
if (dist_bottom_valid) {