Removed a bunch of commented out things that we will not need any more.

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