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EKF2: Remove todo

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Lorenz Meier
2016-01-01 11:39:11 +01:00
parent 61ff954d26
commit 276855acd2
1 changed files with 3 additions and 4 deletions
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7
src/modules/ekf2/ekf2_main.cpp
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@@ -300,11 +300,10 @@ void Ekf2::task_main()
lpos.ref_lon = _ekf->_posRef.lon_rad * (double)180.0 * M_PI; // Reference point longitude in degrees
lpos.ref_alt = _ekf->_gps_alt_ref; // Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level
// TODO: uORB definition does not define what this variable is. We have assumed it to be heading angle in radians lying on the range from +-pi
lpos.yaw = euler(2);
// The rotation of the tangent plane vs. geographical north
lpos.yaw = 0.0f;
// TODO: Distance to surface. Units not defined.
lpos.dist_bottom = 0.0f; // Distance to bottom surface (ground)
lpos.dist_bottom = 0.0f; // Distance to bottom surface (ground) in meters
lpos.dist_bottom_rate = 0.0f; // Distance to bottom surface (ground) change rate
lpos.surface_bottom_timestamp = 0; // Time when new bottom surface found
lpos.dist_bottom_valid = false; // true if distance to bottom surface is valid