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AP_Compass: removed old setHIL compass offset

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This commit is contained in:
Andrew Tridgell 2015-04-21 08:30:05 +10:00
parent a4bad1c703
commit dcb25632fb
1 changed files with 0 additions and 5 deletions
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5
libraries/AP_Compass/Compass.cpp
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@ -566,10 +566,6 @@ bool Compass::configured(void)
return all_configured;
}
#define MAG_OFS_X 5.0
#define MAG_OFS_Y 13.0
#define MAG_OFS_Z -18.0
// Update raw magnetometer values from HIL data
//
void Compass::setHIL(float roll, float pitch, float yaw)
@ -587,7 +583,6 @@ void Compass::setHIL(float roll, float pitch, float yaw)
// convert the earth frame magnetic vector to body frame, and
// apply the offsets
_hil.field = R.mul_transpose(_hil.Bearth);
_hil.field -= Vector3f(MAG_OFS_X, MAG_OFS_Y, MAG_OFS_Z);
// apply default board orientation for this compass type. This is
// a noop on most boards