From f32021f856525dea7db6e56ec93a0410f26a7621 Mon Sep 17 00:00:00 2001 From: ChristophTobler Date: Tue, 8 Dec 2015 14:21:22 +0100 Subject: [PATCH] remove lidar filter value from qgc params --- .../position_estimator_inav_params.cpp | 13 ------------- .../position_estimator_inav_params.h | 2 -- 2 files changed, 15 deletions(-) diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.cpp b/src/modules/position_estimator_inav/position_estimator_inav_params.cpp index 821fa0135e..1774b16738 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.cpp +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.cpp @@ -219,17 +219,6 @@ PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.15f); */ PARAM_DEFINE_FLOAT(INAV_FLOW_Q_MIN, 0.3f); -/** - * Weight for lidar filter - * - * Lidar filter detects spikes on lidar measurements and used to detect new surface level. - * - * @min 0.0 - * @max 1.0 - * @group Position Estimator INAV - */ -PARAM_DEFINE_FLOAT(INAV_LIDAR_FILT, 0.3f); - /** * Sonar maximal error for new surface * @@ -377,7 +366,6 @@ int inav_parameters_init(struct position_estimator_inav_param_handles *h) h->w_acc_bias = param_find("INAV_W_ACC_BIAS"); h->flow_k = param_find("INAV_FLOW_K"); h->flow_q_min = param_find("INAV_FLOW_Q_MIN"); - h->lidar_filt = param_find("INAV_LIDAR_FILT"); h->lidar_err = param_find("INAV_LIDAR_ERR"); h->land_t = param_find("INAV_LAND_T"); h->land_disp = param_find("INAV_LAND_DISP"); @@ -410,7 +398,6 @@ int inav_parameters_update(const struct position_estimator_inav_param_handles *h param_get(h->w_acc_bias, &(p->w_acc_bias)); param_get(h->flow_k, &(p->flow_k)); param_get(h->flow_q_min, &(p->flow_q_min)); - param_get(h->lidar_filt, &(p->lidar_filt)); param_get(h->lidar_err, &(p->lidar_err)); param_get(h->land_t, &(p->land_t)); param_get(h->land_disp, &(p->land_disp)); diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.h b/src/modules/position_estimator_inav/position_estimator_inav_params.h index ac2962ad52..cc7f3f47e1 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.h +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.h @@ -58,7 +58,6 @@ struct position_estimator_inav_params { float w_acc_bias; float flow_k; float flow_q_min; - float lidar_filt; float lidar_err; float land_t; float land_disp; @@ -88,7 +87,6 @@ struct position_estimator_inav_param_handles { param_t w_acc_bias; param_t flow_k; param_t flow_q_min; - param_t lidar_filt; param_t lidar_err; param_t land_t; param_t land_disp;