From 944b18c63e873244dacc647be15d4842da1ad0c3 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sat, 5 Dec 2020 18:48:41 +1100 Subject: [PATCH] EKF: Remove non useful status print Local position is never valid when filter is initialised so there is no use printing the status. --- EKF/estimator_interface.cpp | 2 -- EKF/estimator_interface.h | 3 --- 2 files changed, 5 deletions(-) diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp index 986bc71c52..10d3ff8314 100644 --- a/EKF/estimator_interface.cpp +++ b/EKF/estimator_interface.cpp @@ -598,8 +598,6 @@ void EstimatorInterface::printBufferAllocationFailed(const char *buffer_name) void EstimatorInterface::print_status() { - ECL_INFO("local position valid: %s", local_position_is_valid() ? "yes" : "no"); - ECL_INFO("imu buffer: %d (%d Bytes)", _imu_buffer.get_length(), _imu_buffer.get_total_size()); ECL_INFO("gps buffer: %d (%d Bytes)", _gps_buffer.get_length(), _gps_buffer.get_total_size()); ECL_INFO("mag buffer: %d (%d Bytes)", _mag_buffer.get_length(), _mag_buffer.get_total_size()); diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h index 2cd9a0ff67..85cd710b43 100644 --- a/EKF/estimator_interface.h +++ b/EKF/estimator_interface.h @@ -158,9 +158,6 @@ public: int getNumberOfActiveHorizontalAidingSources() const; - // return true if the local position estimate is valid - bool local_position_is_valid() const { return local_position_is_valid(); } - // return true if the EKF is dead reckoning the position using inertial data only bool inertial_dead_reckoning() const { return _is_dead_reckoning; }