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px4-firmware
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Removed a bunch of commented out things that we will not need any more.

This commit is contained in:
Lorenz Meier 2014-04-04 18:07:58 +02:00
parent e075d05f57
commit 2b6a9c5122
1 changed files with 0 additions and 75 deletions
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75
src/modules/fw_att_pos_estimator/estimator.h
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@ -48,81 +48,6 @@ void swap_var(float &d1, float &d2);
const unsigned int n_states = 21;
const unsigned int data_buffer_size = 50;
// extern uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored
// extern Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
// extern Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
// extern Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad)
// extern Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s)
// extern float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2)
// extern Vector3f earthRateNED; // earths angular rate vector in NED (rad/s)
// extern Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s)
// extern Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2)
// extern Vector3f dVelIMU;
// extern Vector3f dAngIMU;
// extern float P[n_states][n_states]; // covariance matrix
// extern float Kfusion[n_states]; // Kalman gains
// extern float states[n_states]; // state matrix
// extern float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps
// extern Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
// extern Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
// extern Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad)
// extern Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s)
// extern float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
// extern bool onGround; // boolean true when the flight vehicle is on the ground (not flying)
// extern bool useAirspeed; // boolean true if airspeed data is being used
// extern bool useCompass; // boolean true if magnetometer data is being used
// extern uint8_t fusionModeGPS ; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
// extern float innovVelPos[6]; // innovation output
// extern float varInnovVelPos[6]; // innovation variance output
// extern bool fuseVelData; // this boolean causes the posNE and velNED obs to be fused
// extern bool fusePosData; // this boolean causes the posNE and velNED obs to be fused
// extern bool fuseHgtData; // this boolean causes the hgtMea obs to be fused
// extern bool fuseMagData; // boolean true when magnetometer data is to be fused
// extern float velNED[3]; // North, East, Down velocity obs (m/s)
// extern float posNE[2]; // North, East position obs (m)
// extern float hgtMea; // measured height (m)
// extern float posNED[3]; // North, East Down position (m)
// extern float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
// extern float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
// extern float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement
// extern float innovMag[3]; // innovation output
// extern float varInnovMag[3]; // innovation variance output
// extern Vector3f magData; // magnetometer flux radings in X,Y,Z body axes
// extern float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time
// extern float innovVtas; // innovation output
// extern float varInnovVtas; // innovation variance output
// extern bool fuseVtasData; // boolean true when airspeed data is to be fused
// extern float VtasMeas; // true airspeed measurement (m/s)
// extern float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time
// extern float latRef; // WGS-84 latitude of reference point (rad)
// extern float lonRef; // WGS-84 longitude of reference point (rad)
// extern float hgtRef; // WGS-84 height of reference point (m)
// extern Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes
// extern uint8_t covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
// extern float EAS2TAS; // ratio f true to equivalent airspeed
// // GPS input data variables
// extern float gpsCourse;
// extern float gpsVelD;
// extern float gpsLat;
// extern float gpsLon;
// extern float gpsHgt;
// extern uint8_t GPSstatus;
// // Baro input
// extern float baroHgt;
// extern bool statesInitialised;
// extern bool numericalProtection;
const float covTimeStepMax = 0.07f; // maximum time allowed between covariance predictions
const float covDelAngMax = 0.02f; // maximum delta angle between covariance predictions