From da68ea0d1150913f22f8357e1262e65b7343bf65 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sun, 24 Jun 2018 20:36:36 -0400 Subject: [PATCH] estimator_status delete unused nan_flags --- msg/estimator_status.msg | 1 - src/modules/ekf2/ekf2_main.cpp | 1 - .../local_position_estimator/BlockLocalPositionEstimator.cpp | 1 - src/modules/mavlink/mavlink_messages.cpp | 1 - 4 files changed, 4 deletions(-) diff --git a/msg/estimator_status.msg b/msg/estimator_status.msg index 20264a06f7..7cbd6238fb 100644 --- a/msg/estimator_status.msg +++ b/msg/estimator_status.msg @@ -6,7 +6,6 @@ float32[3] vibe # IMU vibration metrics in the following array locations # 1 : Gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle) # 2 : Accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity) -uint8 nan_flags # Bitmask to indicate NaN states uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt) uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt) float32[24] covariances # Diagonal Elements of Covariance Matrix diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index 3d95dd3c63..98d9b6d14c 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -1428,7 +1428,6 @@ void Ekf2::run() _ekf.get_ekf_soln_status(&status.solution_status_flags); _ekf.get_imu_vibe_metrics(status.vibe); status.time_slip = _last_time_slip_us / 1e6f; - status.nan_flags = 0.0f; // unused status.health_flags = 0.0f; // unused status.timeout_flags = 0.0f; // unused status.pre_flt_fail = _preflt_fail; diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp index 986e4ae009..77bba1df30 100644 --- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp +++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp @@ -622,7 +622,6 @@ void BlockLocalPositionEstimator::publishEstimatorStatus() } _pub_est_status.get().n_states = n_x; - _pub_est_status.get().nan_flags = 0; _pub_est_status.get().health_flags = _sensorFault; _pub_est_status.get().timeout_flags = _sensorTimeout; _pub_est_status.get().pos_horiz_accuracy = _pub_gpos.get().eph; diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 0397ccb368..6f5a4dd214 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -2203,7 +2203,6 @@ protected: msg.covariance[i] = est.covariances[i]; } - msg.covariance[9] = est.nan_flags; msg.covariance[10] = est.health_flags; msg.covariance[11] = est.timeout_flags;