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Copter: remove unused GPS and baro filters

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Saves 24bytes of RAM
Removing the baro filter leads to noisier Baro Alt appearing in the log
so we should make the inertial nav altitude appear in the CTUN message
This commit is contained in:
Randy Mackay 2013-03-16 00:20:15 +09:00
parent 232bdca4e2
commit f263e81ed7
2 changed files with 1 additions and 7 deletions
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6
ArduCopter/ArduCopter.pde
View File

@ -92,7 +92,6 @@
#include <AP_OpticalFlow.h> // Optical Flow library
#include <Filter.h> // Filter library
#include <AP_Buffer.h> // APM FIFO Buffer
#include <AP_LeadFilter.h> // GPS Lead filter
#include <AP_Relay.h> // APM relay
#include <AP_Camera.h> // Photo or video camera
#include <AP_Mount.h> // Camera/Antenna mount
@ -557,17 +556,12 @@ int32_t roll_axis;
int32_t pitch_axis;
// Filters
AP_LeadFilter xLeadFilter; // Long GPS lag filter
AP_LeadFilter yLeadFilter; // Lat GPS lag filter
#if FRAME_CONFIG == HELI_FRAME
LowPassFilterFloat rate_roll_filter; // Rate Roll filter
LowPassFilterFloat rate_pitch_filter; // Rate Pitch filter
// LowPassFilterFloat rate_yaw_filter; // Rate Yaw filter
#endif // HELI_FRAME
// Barometer filter
AverageFilterInt32_Size5 baro_filter;
////////////////////////////////////////////////////////////////////////////////
// Circle Mode / Loiter control
////////////////////////////////////////////////////////////////////////////////

2
ArduCopter/sensors.pde
View File

@ -28,7 +28,7 @@ static void init_barometer(void)
static int32_t read_barometer(void)
{
barometer.read();
return baro_filter.apply(barometer.get_altitude() * 100.0f);
return barometer.get_altitude() * 100.0f;
}
// return sonar altitude in centimeters