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ArduCopter: removed deprecated mag offset routine. 

Also removed commented-out block of code from navigation.pde.
This commit is contained in:
rmackay9 2012-10-17 19:47:21 +09:00
parent 9e3c2dd105
commit 401fb4101c
2 changed files with 0 additions and 71 deletions
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7
ArduCopter/navigation.pde
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@ -50,13 +50,6 @@ static void calc_XY_velocity(){
last_longitude = g_gps->longitude;
last_latitude = g_gps->latitude;
/*if(g_gps->ground_speed > 150){
* float temp = radians((float)g_gps->ground_course/100.0);
* x_actual_speed = (float)g_gps->ground_speed * sin(temp);
* y_actual_speed = (float)g_gps->ground_speed * cos(temp);
* }*/
#if INERTIAL_NAV == ENABLED
// inertial_nav
xy_error_correction();

64
ArduCopter/setup.pde
View File

@ -772,70 +772,6 @@ static void clear_offsets()
compass.save_offsets();
}
/*static int8_t
* setup_mag_offset(uint8_t argc, const Menu::arg *argv)
* {
* Vector3f _offsets;
*
* if (!strcmp_P(argv[1].str, PSTR("c"))) {
* clear_offsets();
* report_compass();
* return (0);
* }
*
* print_hit_enter();
* init_compass();
*
* int16_t _min[3] = {0,0,0};
* int16_t _max[3] = {0,0,0};
*
* compass.read();
*
* while(1){
* delay(50);
* float heading;
*
* compass.read();
* heading = compass.calculate_heading(0,0); // roll = 0, pitch = 0
*
* if(compass.mag_x < _min[0]) _min[0] = compass.mag_x;
* if(compass.mag_y < _min[1]) _min[1] = compass.mag_y;
* if(compass.mag_z < _min[2]) _min[2] = compass.mag_z;
*
* // capture max
* if(compass.mag_x > _max[0]) _max[0] = compass.mag_x;
* if(compass.mag_y > _max[1]) _max[1] = compass.mag_y;
* if(compass.mag_z > _max[2]) _max[2] = compass.mag_z;
*
* // calculate offsets
* _offsets.x = (float)(_max[0] + _min[0]) / -2;
* _offsets.y = (float)(_max[1] + _min[1]) / -2;
* _offsets.z = (float)(_max[2] + _min[2]) / -2;
*
* // display all to user
* Serial.printf_P(PSTR("Heading: %u, \t (%d, %d, %d), (%4.4f, %4.4f, %4.4f)\n"),
*
* (uint16_t)(wrap_360(ToDeg(heading) * 100)) /100,
*
* compass.mag_x,
* compass.mag_y,
* compass.mag_z,
*
* _offsets.x,
* _offsets.y,
* _offsets.z);
*
* if(Serial.available() > 1){
* compass.set_offsets(_offsets);
* //compass.set_offsets(mag_offset_x, mag_offset_y, mag_offset_z);
* report_compass();
* return 0;
* }
* }
* return 0;
* }
*/
static int8_t
setup_optflow(uint8_t argc, const Menu::arg *argv)
{