mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-03-15 07:29:15 +01:00
removed forgotten commented out code
This commit is contained in:
parent
9c3a8369cd
commit
39cde8947c
@ -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();
|
||||
}
|
||||
|
Loading…
x
Reference in New Issue
Block a user