[modules] hackhd: remove ins neutral

paparazzi · Sep 1, 2014 · 9884488 · 9884488
1 parent 54ec5ac
commit 9884488
Showing 1 changed file with 0 additions and 5 deletions.
diff --git a/sw/airborne/modules/digital_cam/hackhd.c b/sw/airborne/modules/digital_cam/hackhd.c
@@ -114,18 +114,13 @@ static inline void hackhd_send_shot_position(void)
 #include "subsystems/chibios-libopencm3/chibios_sdlog.h"
 #include "state.h"
 #include "subsystems/gps.h"
-#include "subsystems/ahrs.h"
 
 static inline void hackhd_log_shot_position(void)
 {
   // For unknown reason, the first shot is not taken
   // so we start logging at photo_nr = 1
   if (pprzLogFile.fs != NULL && hackhd.photo_nr > 0) {
     struct FloatEulers att = *stateGetNedToBodyEulers_f();
-#if INS_UPDATE_FW_ESTIMATOR
-    att.phi += ins_roll_neutral;
-    att.theta += ins_pitch_neutral;
-#endif
     struct EnuCoor_f pos = *stateGetPositionEnu_f();
     uint32_t time = get_sys_time_msec();
     sdLogWriteLog(&pprzLogFile, "%d %d %d %d %d %d %d %u\n",