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AP_NavEKF : remove debug code

This commit is contained in:
Paul Riseborough 2014-01-01 14:05:33 +11:00 committed by Andrew Tridgell
parent 2f95685bfc
commit a507fa7570
1 changed files with 0 additions and 6 deletions
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6
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -52,10 +52,6 @@ void NavEKF::InitialiseFilter(void)
{ {
// Calculate initial filter quaternion states from ahrs solution // Calculate initial filter quaternion states from ahrs solution
Quaternion initQuat; Quaternion initQuat;
//debug code
// ahrsEul[0] = -2.6f*DEG_TO_RAD;//_ahrs.roll;
// ahrsEul[1] = +3.4f*DEG_TO_RAD;//_ahrs.pitch;
// ahrsEul[2] = -42.0f*DEG_TO_RAD;//_ahrs.yaw;
ahrsEul[0] = _ahrs.roll; ahrsEul[0] = _ahrs.roll;
ahrsEul[1] = _ahrs.pitch; ahrsEul[1] = _ahrs.pitch;
ahrsEul[2] = _ahrs.yaw; ahrsEul[2] = _ahrs.yaw;
@ -144,8 +140,6 @@ void NavEKF::UpdateFilter()
StoreStates(); StoreStates();
// Check if on ground - status is used by covariance prediction // Check if on ground - status is used by covariance prediction
OnGroundCheck(); OnGroundCheck();
//debug code
onGround = false;
// sum delta angles and time used by covariance prediction // sum delta angles and time used by covariance prediction
summedDelAng = summedDelAng + correctedDelAng; summedDelAng = summedDelAng + correctedDelAng;
summedDelVel = summedDelVel + correctedDelVel; summedDelVel = summedDelVel + correctedDelVel;