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Remove LED horizontality signalization

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It's better to control the attitude estimation using QGC
This commit is contained in:
Oleg Kalachev 2024-11-03 17:41:13 +03:00
parent c5c889679b
commit 2fdad7bdb6
2 changed files with 0 additions and 7 deletions
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6
flix/estimate.ino
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@ -16,7 +16,6 @@ LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
void estimate() { void estimate() {
applyGyro(); applyGyro();
applyAcc(); applyAcc();
signalizeHorizontality();
} }
void applyGyro() { void applyGyro() {
@ -43,8 +42,3 @@ void applyAcc() {
attitude *= Quaternion::fromAngularRates(correction); attitude *= Quaternion::fromAngularRates(correction);
attitude.normalize(); attitude.normalize();
} }
void signalizeHorizontality() {
float angle = Vector::angleBetweenVectors(attitude.rotate(Vector(0, 0, 1)), Vector(0, 0, 1));
setLED(angle < radians(15));
}

1
gazebo/flix.h
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@ -34,7 +34,6 @@ Quaternion attitude;
void computeLoopFreq(); void computeLoopFreq();
void applyGyro(); void applyGyro();
void applyAcc(); void applyAcc();
void signalizeHorizontality();
void control(); void control();
void interpretRC(); void interpretRC();
void controlAttitude(); void controlAttitude();