InertialNav: Removed land detector from position estimator

1 files changed, 9 insertions, 6 deletions

diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 2f972fc9f..b418e3a76 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -246,9 +246,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	float baro_offset = 0.0f;		// baro offset for reference altitude, initialized on start, then adjusted
 	float surface_offset = 0.0f;	// ground level offset from reference altitude
 	float surface_offset_rate = 0.0f;	// surface offset change rate
-	float alt_avg = 0.0f;
-	bool landed = true;
-	hrt_abstime landed_time = 0;
+	//float alt_avg = 0.0f;
+	//bool landed = true;
+	//hrt_abstime landed_time = 0;
 
 	hrt_abstime accel_timestamp = 0;
 	hrt_abstime baro_timestamp = 0;
@@ -1068,12 +1068,14 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			inertial_filter_correct(-y_est[1], dt, y_est, 1, params.w_xy_res_v);
 		}
 
-		/* detect land */
+
+/*
+		// detect land
 		alt_avg += (- z_est[0] - alt_avg) * dt / params.land_t;
 		float alt_disp2 = - z_est[0] - alt_avg;
 		alt_disp2 = alt_disp2 * alt_disp2;
 		float land_disp2 = params.land_disp * params.land_disp;
-		/* get actual thrust output */
+		// get actual thrust output
 		float thrust = armed.armed ? actuator.control[3] : 0.0f;
 
 		if (landed) {
@@ -1097,6 +1099,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				landed_time = 0;
 			}
 		}
+*/
 
 		if (verbose_mode) {
 			/* print updates rate */
@@ -1148,7 +1151,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			local_pos.vy = y_est[1];
 			local_pos.z = z_est[0];
 			local_pos.vz = z_est[1];
-			local_pos.landed = landed;
+			local_pos.landed = false;
 			local_pos.yaw = att.yaw;
 			local_pos.dist_bottom_valid = dist_bottom_valid;
 			local_pos.eph = eph;