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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-06 15:47:34 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-06 15:47:34 +0200 |
| commit | 1492323f0327916435d806c2af1e0c8296278c9d (patch) | |
| tree | d53e2768c326ec6a2cbcfd896550c446ba93fab3 /src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c | |
| parent | 2669f7f3af65921d4abbf3850cd62e48f2eeeec7 (diff) | |
| parent | bd88951f6ce609bc5ba364bfa3d19ae61e444964 (diff) | |
| download | px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.tar.gz px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.tar.bz2 px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.zip | |
Merged master into uavcan
Diffstat (limited to 'src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c')
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c | 15 |
1 files changed, 1 insertions, 14 deletions
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..bc0e3b93a 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"); @@ -109,12 +100,8 @@ 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; + p->mag_decl *= M_PI_F / 180.0f; param_get(h->acc_comp, &(p->acc_comp)); |