[paparazzi-commits] [paparazzi/paparazzi] 66ce29: [ins] alt_float: remove ALT_KALMAN_ENABLED

[GitHub]

  Branch: refs/heads/remove_alt_kalman_enabled
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 66ce294ca4bca0b94078efabf22b5ab73b8b6ae1
      
https://github.com/paparazzi/paparazzi/commit/66ce294ca4bca0b94078efabf22b5ab73b8b6ae1
  Author: Felix Ruess <address@hidden>
  Date:   2013-11-20 (Wed, 20 Nov 2013)

  Changed paths:
    M conf/airframes/CDW/ChimuTinyFwSpi.xml
    M conf/airframes/CDW/DualBoardApFbw.xml
    M conf/airframes/CDW/test/ChimuJTinyFwSpi.xml
    M conf/airframes/CDW/test/ChimuLisaFw.xml
    M conf/airframes/CDW/test/ChimuTinyFw.xml
    M conf/airframes/CDW/test/yapa3_aspirin2.xml
    M conf/airframes/CDW/tiny2_chimu_spi_pt.xml
    M conf/airframes/CDW/yapa_xsens.xml
    M conf/airframes/ENAC/fixed-wing/apogee.xml
    M conf/airframes/ENAC/fixed-wing/crrcsim.xml
    M conf/airframes/ENAC/fixed-wing/eternity1.xml
    M conf/airframes/ENAC/fixed-wing/firestorm.xml
    M conf/airframes/ENAC/fixed-wing/funjet2.xml
    M conf/airframes/ENAC/fixed-wing/merlin.xml
    M conf/airframes/ENAC/fixed-wing/mythe.xml
    M conf/airframes/ENAC/fixed-wing/quark1.xml
    M conf/airframes/ENAC/fixed-wing/twinjet2.xml
    M conf/airframes/ENAC/fixed-wing/weasel.xml
    M conf/airframes/LAAS/mmlaas_N1.xml
    M conf/airframes/LAAS/mmlaas_N2.xml
    M conf/airframes/LAAS/mmlaas_N3.xml
    M conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
    M conf/airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml
    M conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_fw.xml
    M conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_fw.xml
    M conf/airframes/examples/MentorEnergy.xml
    M conf/airframes/examples/Twinstar_energyadaptive.xml
    M conf/airframes/examples/bixler_lisa_m_2.xml
    M conf/airframes/examples/easy_glider.xml
    M conf/airframes/examples/easystar.xml
    M conf/airframes/examples/easystar_ets.xml
    M conf/airframes/examples/krooz_sd/fixedwing/krooz_sd_fw.xml
    M conf/airframes/examples/lisa_l_chimu.xml
    M conf/airframes/examples/microjet.xml
    M conf/airframes/examples/microjet_lisa_m.xml
    M conf/airframes/examples/microjet_lisa_m_xsens.xml
    M conf/airframes/examples/microjet_twog_aspirin.xml
    M conf/airframes/examples/separate_fbw_ap.xml
    M conf/airframes/examples/twog_analogimu.xml
    M conf/airframes/examples/umarim_lite_v2.xml
    M conf/airframes/examples/yapaChimuSpi.xml
    M conf/airframes/flixr_discovery.xml
    M conf/airframes/jsbsim.xml
    M sw/airborne/subsystems/ins/ins_alt_float.c
    M sw/airborne/subsystems/ins/ins_alt_float.h

  Log Message:
  -----------
  [ins] alt_float: remove ALT_KALMAN_ENABLED

There is really no benefit in keeping the ALT_KALMAN_ENABLED define (and 
setting it to FALSE by default).
If USE_BAROMETER alt_kalman is always enabled and if you don't want to use 
altitude/climb_rate filtering,
use the ins type "gps_passthrough".
Now if you use the alt_float INS, it's always enabled (which is what most 
people expect anyway).

In theory it was possible to disable the alt_kalman in flight before (if ! 
USE_BAROMETER),
but I very much doubt that was used since there also was no settings file for 
it.