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vehicle_local_position: delete unused and redundant dist_bottom_rate

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This commit is contained in:
Daniel Agar
2020-01-18 12:50:57 -05:00
committed by GitHub
parent 98f0ba33d2
commit c270e75156
3 changed files with 0 additions and 4 deletions
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1
msg/vehicle_local_position.msg
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@@ -49,7 +49,6 @@ float32 ref_alt # Reference altitude AMSL, (metres)
# Distance to surface # Distance to surface
float32 dist_bottom # Distance from from bottom surface to ground, (metres) float32 dist_bottom # Distance from from bottom surface to ground, (metres)
float32 dist_bottom_rate # Rate of change of distance from bottom surface to ground, (metres/sec)
bool dist_bottom_valid # true if distance to bottom surface is valid bool dist_bottom_valid # true if distance to bottom surface is valid
float32 eph # Standard deviation of horizontal position error, (metres) float32 eph # Standard deviation of horizontal position error, (metres)

2
src/modules/ekf2/ekf2_main.cpp
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@@ -1327,8 +1327,6 @@ void Ekf2::Run()
_ekf.set_gnd_effect_flag(false); _ekf.set_gnd_effect_flag(false);
} }
lpos.dist_bottom_rate = -lpos.vz; // Distance to bottom surface (ground) change rate
_ekf.get_ekf_lpos_accuracy(&lpos.eph, &lpos.epv); _ekf.get_ekf_lpos_accuracy(&lpos.eph, &lpos.epv);
_ekf.get_ekf_vel_accuracy(&lpos.evh, &lpos.evv); _ekf.get_ekf_vel_accuracy(&lpos.evh, &lpos.evv);

1
src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
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@@ -604,7 +604,6 @@ void BlockLocalPositionEstimator::publishLocalPos()
_pub_lpos.get().ref_lon = _map_ref.lon_rad * 180 / M_PI; _pub_lpos.get().ref_lon = _map_ref.lon_rad * 180 / M_PI;
_pub_lpos.get().ref_alt = _altOrigin; _pub_lpos.get().ref_alt = _altOrigin;
_pub_lpos.get().dist_bottom = _aglLowPass.getState(); _pub_lpos.get().dist_bottom = _aglLowPass.getState();
_pub_lpos.get().dist_bottom_rate = -xLP(X_vz);
// we estimate agl even when we don't have terrain info // we estimate agl even when we don't have terrain info
// if you are in terrain following mode this is important // if you are in terrain following mode this is important
// so that if terrain estimation fails there isn't a // so that if terrain estimation fails there isn't a