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INAV: Removed all references to land detector logic

This commit is contained in:
Johan Jansen 2015-01-06 13:56:36 +01:00
parent 57ed27304a
commit 6978ed6a61
1 changed files with 0 additions and 37 deletions
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37
src/modules/position_estimator_inav/position_estimator_inav_main.c
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@ -246,9 +246,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float baro_offset = 0.0f; // baro offset for reference altitude, initialized on start, then adjusted
float surface_offset = 0.0f; // ground level offset from reference altitude
float surface_offset_rate = 0.0f; // surface offset change rate
//float alt_avg = 0.0f;
//bool landed = true;
//hrt_abstime landed_time = 0;
hrt_abstime accel_timestamp = 0;
hrt_abstime baro_timestamp = 0;
@ -1068,39 +1065,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
inertial_filter_correct(-y_est[1], dt, y_est, 1, params.w_xy_res_v);
}
/*
// detect land
alt_avg += (- z_est[0] - alt_avg) * dt / params.land_t;
float alt_disp2 = - z_est[0] - alt_avg;
alt_disp2 = alt_disp2 * alt_disp2;
float land_disp2 = params.land_disp * params.land_disp;
// get actual thrust output
float thrust = armed.armed ? actuator.control[3] : 0.0f;
if (landed) {
if (alt_disp2 > land_disp2 || thrust > params.land_thr) {
landed = false;
landed_time = 0;
}
} else {
if (alt_disp2 < land_disp2 && thrust < params.land_thr) {
if (landed_time == 0) {
landed_time = t; // land detected first time
} else {
if (t > landed_time + params.land_t * 1000000.0f) {
landed = true;
landed_time = 0;
}
}
} else {
landed_time = 0;
}
}
*/
if (verbose_mode) {
/* print updates rate */
if (t > updates_counter_start + updates_counter_len) {
@ -1151,7 +1115,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
local_pos.vy = y_est[1];
local_pos.z = z_est[0];
local_pos.vz = z_est[1];
local_pos.landed = false;
local_pos.yaw = att.yaw;
local_pos.dist_bottom_valid = dist_bottom_valid;
local_pos.eph = eph;