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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-04 18:07:58 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-04 18:07:58 +0200 |
commit | 2b6a9c5122008ca47cf7524b6887d7de9b0b8a5d (patch) | |
tree | 7fc270de1f2bbff64db3e33a7de05d7b8c3afc2e | |
parent | e075d05f579091fb9c605c856650cbfd1587a044 (diff) | |
download | px4-firmware-2b6a9c5122008ca47cf7524b6887d7de9b0b8a5d.tar.gz px4-firmware-2b6a9c5122008ca47cf7524b6887d7de9b0b8a5d.tar.bz2 px4-firmware-2b6a9c5122008ca47cf7524b6887d7de9b0b8a5d.zip |
Removed a bunch of commented out things that we will not need any more.
-rw-r--r-- | src/modules/fw_att_pos_estimator/estimator.h | 75 |
1 files changed, 0 insertions, 75 deletions
diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/fw_att_pos_estimator/estimator.h index f43f4931a..821392399 100644 --- a/src/modules/fw_att_pos_estimator/estimator.h +++ b/src/modules/fw_att_pos_estimator/estimator.h @@ -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 |