From 8ac81515ce30100cda801134ad7c4cd9a9be6bd3 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 14 May 2015 17:11:36 +0200 Subject: [PATCH] EKF estimator: Remove unused params --- .../attitude_estimator_ekf_main.cpp | 13 +------------ .../attitude_estimator_ekf_params.c | 14 -------------- 2 files changed, 1 insertion(+), 26 deletions(-) diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 3faf63a27f..fb7cda8c42 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -397,16 +397,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) hrt_abstime vel_t = 0; bool vel_valid = false; - if (ekf_params.acc_comp == 1 && gps.fix_type >= 3 && gps.eph < 10.0f && gps.vel_ned_valid && hrt_absolute_time() < gps.timestamp_velocity + 500000) { - vel_valid = true; - if (gps_updated) { - vel_t = gps.timestamp_velocity; - vel(0) = gps.vel_n_m_s; - vel(1) = gps.vel_e_m_s; - vel(2) = gps.vel_d_m_s; - } - - } else if (ekf_params.acc_comp == 2 && gps.eph < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) { + if (gps.eph < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) { vel_valid = true; if (global_pos_updated) { vel_t = global_pos.timestamp; @@ -487,8 +478,6 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) if (gps.eph < 20.0f && hrt_elapsed_time(&gps.timestamp_position) < 1000000) { mag_decl = math::radians(get_mag_declination(gps.lat / 1e7f, gps.lon / 1e7f)); - } else { - mag_decl = ekf_params.mag_decl; } /* update mag declination rotation matrix */ diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index e981c6eb74..13a9fa5f6f 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -107,11 +107,6 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f); */ PARAM_DEFINE_INT32(EKF_ATT_ENABLED, 1); -/* magnetic declination, in degrees */ -PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f); - -PARAM_DEFINE_INT32(ATT_ACC_COMP, 2); - /** * Moment of inertia matrix diagonal entry (1, 1) * @@ -159,10 +154,6 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h) h->r1 = param_find("EKF_ATT_V4_R1"); h->r2 = param_find("EKF_ATT_V4_R2"); - h->mag_decl = param_find("ATT_MAG_DECL"); - - h->acc_comp = param_find("ATT_ACC_COMP"); - h->moment_inertia_J[0] = param_find("ATT_J11"); h->moment_inertia_J[1] = param_find("ATT_J22"); h->moment_inertia_J[2] = param_find("ATT_J33"); @@ -182,11 +173,6 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru param_get(h->r1, &(p->r[1])); param_get(h->r2, &(p->r[2])); - param_get(h->mag_decl, &(p->mag_decl)); - p->mag_decl *= M_PI_F / 180.0f; - - param_get(h->acc_comp, &(p->acc_comp)); - for (int i = 0; i < 3; i++) { param_get(h->moment_inertia_J[i], &(p->moment_inertia_J[3 * i + i])); }