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Rover: cleanup some old code

This commit is contained in:
Andrew Tridgell 2013-03-01 12:29:43 +11:00
parent 3aeb836bc0
commit 0873f8d00d
1 changed files with 4 additions and 15 deletions
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19
APMrover2/APMrover2.pde
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@ -442,10 +442,6 @@ static float current_amps1;
// Totalized current (Amp-hours) from battery 1 // Totalized current (Amp-hours) from battery 1
static float current_total1; static float current_total1;
// To Do - Add support for second battery pack
//static float battery_voltage2 = LOW_VOLTAGE * 1.05; // Battery 2 Voltage, initialized above threshold for filter
//static float current_amps2; // Current (Amperes) draw from battery 2
//static float current_total2; // Totalized current (Amp-hours) from battery 2
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Navigation control variables // Navigation control variables
@ -662,7 +658,10 @@ static void fast_loop()
} else { } else {
obstacle = false; obstacle = false;
} }
} } else {
// this makes it possible to disable sonar at runtime
obstacle = false;
}
// uses the yaw from the DCM to give more accurate turns // uses the yaw from the DCM to give more accurate turns
calc_bearing_error(); calc_bearing_error();
@ -675,13 +674,6 @@ static void fast_loop()
Log_Write_IMU(); Log_Write_IMU();
#endif #endif
// inertial navigation
// ------------------
#if INERTIAL_NAVIGATION == ENABLED
// TODO: implement inertial nav function
inertialNavigation();
#endif
// custom code/exceptions for flight modes // custom code/exceptions for flight modes
// --------------------------------------- // ---------------------------------------
update_current_mode(); update_current_mode();
@ -695,9 +687,6 @@ static void fast_loop()
// ------------------------------ // ------------------------------
set_servos(); set_servos();
// XXX is it appropriate to be doing the comms below on the fast loop?
gcs_update(); gcs_update();
gcs_data_stream_send(); gcs_data_stream_send();
} }