Remove some old comments.
@@ -63,17 +63,6 @@ func initPressureSensor() (ok bool) {
}
//TODO westphae: make bmp180.go to fit bmp interface
- //for i := 0; i < 5; i++ {
- // myBMPX80 = bmp180.New(i2cbus)
- // _, err := myBMPX80.Temperature() // Test to see if it works, since bmp180.New doesn't return err
- // if err != nil {
- // time.Sleep(250 * time.Millisecond)
- // } else {
- // globalStatus.BMPConnected = true
- // log.Println("AHRS Info: Successfully initialized BMP180")
- // return nil
- // }
- //}
log.Println("AHRS Info: couldn't initialize BMP280 or BMP180")
return false
@@ -206,14 +195,6 @@ func sensorAttitudeSender() {
m.T = float64(t.UnixNano()/1000) / 1e6
_, b1, b2, b3, a1, a2, a3, m1, m2, m3, mpuError, magError = myIMUReader.Read()
- // This is how the RY83XAI is wired up
- //m.A1, m.A2, m.A3 = -a2, +a1, -a3
- //m.B1, m.B2, m.B3 = +b2, -b1, +b3
- //m.M1, m.M2, m.M3 = +m1, +m2, +m3
- // This is how the OpenFlightBox board is wired up
- //m.A1, m.A2, m.A3 = +a1, -a2, +a3
- //m.B1, m.B2, m.B3 = -b1, +b2, -b3
- //m.M1, m.M2, m.M3 = +m2, +m1, +m3
m.A1 = -(ff[0][0]*a1 + ff[0][1]*a2 + ff[0][2]*a3)
m.A2 = -(ff[1][0]*a1 + ff[1][1]*a2 + ff[1][2]*a3)
m.A3 = -(ff[2][0]*a1 + ff[2][1]*a2 + ff[2][2]*a3)
