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Code Issues Releases Activity

removed forgotten commented out code

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This commit is contained in:
Corvus Corax 2013-05-18 22:19:22 +02:00
parent 9c3a8369cd
commit 39cde8947c
1 changed files with 0 additions and 16 deletions
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16
flight/modules/Sensors/sensors.c
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@ -371,14 +371,6 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
gyroSensorData.z = gyros_out[2];
}
/* TODO if (bias_correct_gyro) {
// Apply bias correction to the gyros from the state estimator
GyrosBiasData gyrosBias;
GyrosBiasGet(&gyrosBias);
gyrosData.x -= gyrosBias.x;
gyrosData.y -= gyrosBias.y;
gyrosData.z -= gyrosBias.z;
}*/
GyroSensorSet(&gyroSensorData);
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
@ -404,14 +396,6 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
mag.z = mags[2];
}
// Correct for mag bias and update if the rate is non zero
// TODO
/*
if (cal.MagBiasNullingRate > 0) {
magOffsetEstimation(&mag);
}
*/
MagnetoSensorSet(&mag);
mag_update_time = PIOS_DELAY_GetRaw();
}