From b36d251bd91c422ebf924efbd533f6ac19b5d66c Mon Sep 17 00:00:00 2001
From: stac <stac>
Date: Sat, 21 Aug 2010 16:23:14 +0000
Subject: [PATCH] ahrs: remove debug code in attitude handler

Debug code was previously using the q4 element
in the attitude message to encode a cycle counter
to measure performance on the AHRS.  This is no
longer valid.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1357 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/AHRS/ahrs.c | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/flight/AHRS/ahrs.c b/flight/AHRS/ahrs.c
index b97da0a66..03ebd8121 100644
--- a/flight/AHRS/ahrs.c
+++ b/flight/AHRS/ahrs.c
@@ -711,10 +711,6 @@ void process_spi_request(void)
     user_tx_v1.payload.user.v.rsp.attitude.euler.pitch   = attitude_data.euler.pitch;
     user_tx_v1.payload.user.v.rsp.attitude.euler.yaw     = attitude_data.euler.yaw;
     dump_spi_message(PIOS_COM_AUX, "A", (uint8_t *)&user_tx_v1, sizeof(user_tx_v1));
-#if 1
-    /* DEBUG: Overload q4 as a cycle counter since last read. */
-    attitude_data.quaternion.q4 = 0;
-#endif
     lfsm_user_set_tx_v1 (&user_tx_v1);
     break;
   default: