diff options
| author | Keith Packard <keithp@keithp.com> | 2011-03-22 17:04:07 +0900 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2011-03-22 21:53:34 +0900 |
| commit | f3053b1f3c85d4fd84b3c6cc87858f433166df34 (patch) | |
| tree | c0e65c3441187c7d0cc399089ae31c63c279bc39 | |
| parent | 6864e06d88a5b908cffa7c4cd2be8969ff46ce4d (diff) | |
altos: Clean up some debug stuff in ao_flight.c
Remove some spurious printf debugging.
Remove an attempt at discovering broken accelerometer code.
Signed-off-by: Keith Packard <keithp@keithp.com>
| -rw-r--r-- | src/ao_flight.c | 24 |
1 files changed, 0 insertions, 24 deletions
diff --git a/src/ao_flight.c b/src/ao_flight.c index b86603e4..7f194e04 100644 --- a/src/ao_flight.c +++ b/src/ao_flight.c @@ -184,16 +184,8 @@ ao_kalman_err_height(void) ao_error_h_sq_avg += (e * e) >> 4; height_distrust = ao_raw_height - AO_MAX_BARO_HEIGHT; -#ifdef AO_FLIGHT_TEST - if (height_distrust > 0) - printf ("height_distrust %d\n", height_distrust); -#endif #if HAS_ACCEL speed_distrust = (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) >> 4; -#ifdef AO_FLIGHT_TEST - if (speed_distrust > 0) - printf ("speed distrust %d\n", speed_distrust); -#endif if (speed_distrust <= 0) speed_distrust = 0; else if (speed_distrust > height_distrust) @@ -247,22 +239,6 @@ ao_kalman_correct_both(void) ao_kalman_err_height(); ao_kalman_err_accel(); -#if 0 - /* - * Check to see if things are crazy here -- - * if the computed height is far above the - * measured height, we assume that the flight - * trajectory is not vertical, and so ignore - * the accelerometer for the remainder of the - * flight. - */ - if (ao_error_h_sq_avg > 10) - { - ao_kalman_correct_baro(); - return; - } -#endif - #ifdef AO_FLIGHT_TEST if (ao_flight_tick - ao_flight_prev_tick > 5) { ao_k_height += |