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Quaternion: we no longer support acceleration in the GPS driver

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remove the linear acceleration compensation code
This commit is contained in:
Andrew Tridgell 2012-08-14 18:33:06 +10:00
parent 79aae2114c
commit 41a974683e
1 changed files with 0 additions and 6 deletions
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6
libraries/AP_AHRS/AP_AHRS_Quaternion.cpp
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@ -316,12 +316,6 @@ void AP_AHRS_Quaternion::update(void)
accel = - _imu->get_accel(); accel = - _imu->get_accel();
if (_fly_forward && _gps && _gps->status() == GPS::GPS_OK) { if (_fly_forward && _gps && _gps->status() == GPS::GPS_OK) {
// compensate for linear acceleration. This makes a
// surprisingly large difference in the pitch estimate when
// turning, plus on takeoff and landing
float acceleration = _gps->acceleration();
accel.x += acceleration;
// compensate for centripetal acceleration // compensate for centripetal acceleration
float veloc; float veloc;
veloc = _gps->ground_speed * 0.01; veloc = _gps->ground_speed * 0.01;