From b36bf7b17e4827465d1d543a00ea3898813c77ea Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 23 Feb 2014 15:59:56 -0800 Subject: Removed gravity and on ground check hardcoded testing values --- src/modules/fw_att_pos_estimator/estimator.h | 2 +- src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp | 1 - 2 files changed, 1 insertion(+), 2 deletions(-) (limited to 'src/modules/fw_att_pos_estimator') diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/fw_att_pos_estimator/estimator.h index ff31a84ac..d65be322f 100644 --- a/src/modules/fw_att_pos_estimator/estimator.h +++ b/src/modules/fw_att_pos_estimator/estimator.h @@ -3,7 +3,7 @@ #pragma once -#define GRAVITY_MSS 9.76f//9.80665f +#define GRAVITY_MSS 9.80665f #define deg2rad 0.017453292f #define rad2deg 57.295780f #define pi 3.141592657f diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp index 95549ad21..38162959d 100644 --- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -735,7 +735,6 @@ FixedwingEstimator::task_main() StoreStates(IMUmsec); // Check if on ground - status is used by covariance prediction OnGroundCheck(); - onGround = false; // sum delta angles and time used by covariance prediction summedDelAng = summedDelAng + correctedDelAng; summedDelVel = summedDelVel + dVelIMU; -- cgit v1.2.3