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fw_att_pos_estimator: Removed unused code

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Lorenz Meier
2014-02-25 17:17:47 -08:00
parent 76ac14d3c4
commit dac0427b60
1 changed files with 1 additions and 96 deletions
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src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+1 -96
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@@ -790,6 +790,7 @@ FixedwingEstimator::task_main()
RecallStates(statesAtPosTime, (IMUmsec - msecPosDelay));
// run the fusion step
FuseVelposNED();
} else {
fuseVelData = false;
fusePosData = false;
@@ -829,102 +830,6 @@ FixedwingEstimator::task_main()
fuseVtasData = false;
}
// if (hrt_elapsed_time(&start_time) > 100000 && !_initialized && (GPSstatus == 3)) {
// InitialiseFilter(velNED);
// _initialized = true;
// warnx("init done.");
// }
// if (_initialized) {
// /* predict states and covariances */
// /* run the strapdown INS every sensor update */
// UpdateStrapdownEquationsNED();
// /* store the predictions */
// StoreStates(IMUmsec);
// /* evaluate if on ground */
// // OnGroundCheck();
// onGround = false;
// /* prepare the delta angles and time used by the covariance prediction */
// summedDelAng = summedDelAng + correctedDelAng;
// summedDelVel = summedDelVel + correctedDelVel;
// dt += dtIMU;
// /* predict the covairance if the total delta angle has exceeded the threshold
// * or the time limit will be exceeded on the next measurement update
// */
// if ((dt >= (covTimeStepMax - dtIMU)) || (summedDelAng.length() > covDelAngMax)) {
// CovariancePrediction(dt);
// summedDelAng = summedDelAng.zero();
// summedDelVel = summedDelVel.zero();
// dt = 0.0f;
// }
// }
// if (gps_updated && _initialized) {
// /* convert GPS measurements to horizontal NE, altitude and 3D velocity NED */
// calcposNED(posNED, gpsLat, gpsLon, gpsHgt, latRef, lonRef, hgtRef);
// posNE[0] = posNED[0];
// posNE[1] = posNED[1];
// // set flags for further processing
// fuseVelData = true;
// fusePosData = true;
// /* recall states after adjusting for delays */
// RecallStates(statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
// RecallStates(statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
// /* run the actual fusion */
// FuseVelposNED();
// } else {
// fuseVelData = false;
// fusePosData = false;
// }
// if (baro_updated && _initialized) {
// fuseHgtData = true;
// // recall states stored at time of measurement after adjusting for delays
// RecallStates(statesAtHgtTime, (IMUmsec - _parameters.height_delay_ms));
// // run the fusion step
// FuseVelposNED();
// } else {
// fuseHgtData = false;
// }
// if (mag_updated && _initialized) {
// fuseMagData = true;
// RecallStates(statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms));
// } else {
// fuseMagData = false;
// }
// if (_initialized) {
// FuseMagnetometer();
// }
// if (airspeed_updated && _initialized
// && _airspeed.true_airspeed_m_s > 6.0f /* XXX magic number */) {
// fuseVtasData = true;
// RecallStates(statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
// FuseAirspeed();
// } else {
// fuseVtasData = false;
// }
// Publish results
if (_initialized) {