Removed unused ATT_XXX_OFF3 paramters. Offset tuning now accomplished via the sensors app using new SENS_BOARD_XXX_OFF parameters.

3 files changed, 4 insertions, 19 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 95685b407..66a949af1 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -512,11 +512,10 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 
 					/* send out */
 					att.timestamp = raw.timestamp;
-					
-					/* Compensate for fmu placement offsets and magnetic declination */
-					att.roll = euler[0] - ekf_params.roll_off;
-					att.pitch = euler[1] - ekf_params.pitch_off;
-					att.yaw = euler[2] + ekf_params.mag_decl - ekf_params.yaw_off;
+
+					att.roll = euler[0];
+					att.pitch = euler[1];
+					att.yaw = euler[2] + ekf_params.mag_decl;
 
 					att.rollspeed = x_aposteriori[0];
 					att.pitchspeed = x_aposteriori[1];
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 3ff3d9922..49a892609 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
@@ -61,11 +61,6 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
 /* offset estimation - UNUSED */
 PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f);
 
-/* offsets in roll, pitch and yaw of sensor plane and body */
-PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);
-PARAM_DEFINE_FLOAT(ATT_PITCH_OFF3, 0.0f);
-PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f);
-
 /* magnetic declination, in degrees */
 PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
 
@@ -85,10 +80,6 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
 	h->r2 	=	param_find("EKF_ATT_V4_R2");
 	h->r3 	=	param_find("EKF_ATT_V4_R3");
 
-	h->roll_off  =	param_find("ATT_ROLL_OFF3");
-	h->pitch_off =	param_find("ATT_PITCH_OFF3");
-	h->yaw_off   =	param_find("ATT_YAW_OFF3");
-
 	h->mag_decl   =	param_find("ATT_MAG_DECL");
 
 	h->acc_comp   =	param_find("ATT_ACC_COMP");
@@ -109,10 +100,6 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
 	param_get(h->r2, &(p->r[2]));
 	param_get(h->r3, &(p->r[3]));
 
-	param_get(h->roll_off, &(p->roll_off));
-	param_get(h->pitch_off, &(p->pitch_off));
-	param_get(h->yaw_off, &(p->yaw_off));
-
 	param_get(h->mag_decl, &(p->mag_decl));
 	p->mag_decl *= M_PI / 180.0f;
 
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
index 74a141609..5985541ca 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
@@ -54,7 +54,6 @@ struct attitude_estimator_ekf_params {
 struct attitude_estimator_ekf_param_handles {
 	param_t r0, r1, r2, r3;
 	param_t q0, q1, q2, q3, q4;
-	param_t roll_off, pitch_off, yaw_off;
 	param_t mag_decl;
 	param_t acc_comp;
 };