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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-21 13:22:04 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-21 13:22:04 +0100 |
| commit | c5311b18fef0e215c019a4686ca9697224d1cd31 (patch) | |
| tree | 84c35f1b7d97b5d9fe76bc550dc425f17a551b92 /src/modules/fw_att_pos_estimator/estimator.cpp | |
| parent | 87410b5bde3075603a7615904d1c3d41f5b7fce8 (diff) | |
| download | px4-firmware-c5311b18fef0e215c019a4686ca9697224d1cd31.tar.gz px4-firmware-c5311b18fef0e215c019a4686ca9697224d1cd31.tar.bz2 px4-firmware-c5311b18fef0e215c019a4686ca9697224d1cd31.zip | |
Build fixes
Diffstat (limited to 'src/modules/fw_att_pos_estimator/estimator.cpp')
| -rw-r--r-- | src/modules/fw_att_pos_estimator/estimator.cpp | 6 |
1 files changed, 0 insertions, 6 deletions
diff --git a/src/modules/fw_att_pos_estimator/estimator.cpp b/src/modules/fw_att_pos_estimator/estimator.cpp index bae427234..0f2559c58 100644 --- a/src/modules/fw_att_pos_estimator/estimator.cpp +++ b/src/modules/fw_att_pos_estimator/estimator.cpp @@ -1,9 +1,5 @@ #include "estimator.h" -// For debugging only -#include <cstdlib> -#include <stdio.h> - // Global variables float KH[n_states][n_states]; // intermediate result used for covariance updates float KHP[n_states][n_states]; // intermediate result used for covariance updates @@ -1840,8 +1836,6 @@ void InitialiseFilter(float (&initvelNED)[3]) Vector3f initMagXYZ; initMagXYZ = magData - magBias; AttitudeInit(accel.x, accel.y, accel.z, initMagXYZ.x, initMagXYZ.y, initMagXYZ.z, initQuat); - printf("initializing: accel: %8.4f %8.4f %8.4f, mag: %8.4f %8.4f %8.4f q: %8.4f %8.4f %8.4f %8.4f\n", - accel.x, accel.y, accel.z, initMagXYZ.x, initMagXYZ.y, initMagXYZ.z, initQuat[0], initQuat[1], initQuat[2], initQuat[3]); // Calculate initial Tbn matrix and rotate Mag measurements into NED // to set initial NED magnetic field states |