From 8044c5aaf660f174e878bce0116d599165ad9558 Mon Sep 17 00:00:00 2001 From: ChristophTobler Date: Tue, 17 Nov 2015 16:59:44 +0100 Subject: [PATCH] remove unnecessary lines --- .../position_estimator_inav/position_estimator_inav_main.c | 6 ++---- 1 file changed, 2 insertions(+), 4 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 32cb74ec8b..d8f29f1082 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -863,7 +863,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float gps_proj[2]; map_projection_project(&ref, lat, lon, &(gps_proj[0]), &(gps_proj[1])); - /* reset position estimate and ref when GPS becomes good */ + /* reset position estimate when GPS becomes good */ if (reset_est) { x_est[0] = gps_proj[0]; x_est[1] = gps.vel_n_m_s; @@ -877,8 +877,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) est_i += EST_BUF_SIZE; } - //mavlink_log_info(mavlink_fd, "est_i = %d\n", (int)est_i); - /* calculate correction for position */ corr_gps[0][0] = gps_proj[0] - est_buf[est_i][0][0]; corr_gps[1][0] = gps_proj[1] - est_buf[est_i][1][0]; @@ -982,7 +980,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) bool can_estimate_xy = (eph < max_eph_epv) || use_gps_xy || use_flow || use_vision_xy || use_mocap; - //mavlink_log_info(mavlink_fd, "eph = %2.6f\t gps eph = %2.4f\n", (double)eph, (double)gps.eph); + bool dist_bottom_valid = (t < lidar_valid_time + lidar_valid_timeout); if (dist_bottom_valid) {