diff options
Diffstat (limited to 'src/modules/position_estimator_inav')
-rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 34 |
1 files changed, 0 insertions, 34 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 38011a935..68ebd0f4f 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -247,9 +247,6 @@ 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; hrt_abstime accel_timestamp = 0; hrt_abstime baro_timestamp = 0; @@ -1069,36 +1066,6 @@ 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 */ - 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 */ - float thrust = armed.armed ? actuator.control[3] : 0.0f; - - if (landed) { - if (alt_disp2 > land_disp2 || thrust > params.land_thr) { - landed = false; - landed_time = 0; - } - } else { - if (alt_disp2 < land_disp2 && thrust < params.land_thr) { - if (landed_time == 0) { - landed_time = t; // land detected first time - - } else { - if (t > landed_time + params.land_t * 1000000.0f) { - landed = true; - landed_time = 0; - } - } - - } else { - landed_time = 0; - } - } - if (verbose_mode) { /* print updates rate */ if (t > updates_counter_start + updates_counter_len) { @@ -1149,7 +1116,6 @@ 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.yaw = att.yaw; local_pos.dist_bottom_valid = dist_bottom_valid; local_pos.eph = eph; |