diff --git a/conf/airframes/ENAC/fixed-wing/apogee.xml b/conf/airframes/ENAC/fixed-wing/apogee.xml
index d98be030f0..5a928beb9e 100644
--- a/conf/airframes/ENAC/fixed-wing/apogee.xml
+++ b/conf/airframes/ENAC/fixed-wing/apogee.xml
@@ -33,9 +33,7 @@
-
-
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/eternity1.xml b/conf/airframes/ENAC/fixed-wing/eternity1.xml
index 6a9595967d..06bd7fc9d1 100644
--- a/conf/airframes/ENAC/fixed-wing/eternity1.xml
+++ b/conf/airframes/ENAC/fixed-wing/eternity1.xml
@@ -26,9 +26,7 @@
-
-
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml
index 584e3fb3a9..222712c259 100644
--- a/conf/airframes/ENAC/fixed-wing/firestorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/firestorm.xml
@@ -32,9 +32,7 @@
-
-
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
index bd474733af..56455152a5 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml
@@ -39,9 +39,7 @@
-
-
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/mythe.xml b/conf/airframes/ENAC/fixed-wing/mythe.xml
index 5a39cdc4fa..f6c226b11b 100644
--- a/conf/airframes/ENAC/fixed-wing/mythe.xml
+++ b/conf/airframes/ENAC/fixed-wing/mythe.xml
@@ -66,9 +66,7 @@
-
-
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
index 744c25880c..f15a4b5c41 100644
--- a/conf/airframes/ENAC/fixed-wing/weasel.xml
+++ b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -20,26 +20,27 @@
-
+
-
-
-
+
-
+
+
+
+
+
+
-
-
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+
@@ -49,17 +50,11 @@
-
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-
-
-
-
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+
@@ -83,13 +78,13 @@
-
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+
@@ -161,15 +156,15 @@
-
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@@ -206,8 +201,8 @@
-
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@@ -234,7 +229,7 @@
-
+
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index 472c32d189..ae5f73a8eb 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -213,7 +213,7 @@
-
+
diff --git a/conf/airframes/ENAC/quadrotor/hen1.xml b/conf/airframes/ENAC/quadrotor/hen1.xml
index 78b81b8e0b..2c0bdb49ae 100644
--- a/conf/airframes/ENAC/quadrotor/hen1.xml
+++ b/conf/airframes/ENAC/quadrotor/hen1.xml
@@ -3,11 +3,11 @@
-
+
@@ -23,23 +23,23 @@
-
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-
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@@ -48,9 +48,9 @@
-
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@@ -62,25 +62,25 @@
-
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@@ -110,9 +110,9 @@
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-
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@@ -146,76 +146,77 @@
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@@ -227,9 +228,8 @@
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
index b53f0bdea0..0c656ce4a4 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
@@ -20,7 +20,6 @@
* Theory: http://code.google.com/p/gentlenav/downloads/list file DCMDraft2.pdf
*
* Options:
- * - USE_HIGH_ACCEL_FLAG: no compensation when high accelerations present
* - USE_MAGNETOMETER_ONGROUND: use magnetic compensation before takeoff only while GPS course not good
* - USE_AHRS_GPS_ACCELERATIONS: forward acceleration compensation from GPS speed
*
@@ -114,18 +113,6 @@ int renorm_blowup_count = 0;
float imu_health = 0.;
#endif
-#if USE_HIGH_ACCEL_FLAG
-// High Accel Flag
-#define HIGH_ACCEL_LOW_SPEED 15.0
-#define HIGH_ACCEL_LOW_SPEED_RESUME 4.0 // Hysteresis
-#define HIGH_ACCEL_HIGH_THRUST (0.8*MAX_PPRZ)
-#define HIGH_ACCEL_HIGH_THRUST_RESUME (0.1*MAX_PPRZ) // Hysteresis
-bool_t high_accel_done;
-bool_t high_accel_flag;
-// Command vector for thrust (fixed_wing)
-#include "inter_mcu.h"
-#endif
-
static inline void set_dcm_matrix_from_rmat(struct FloatRMat *rmat)
{
@@ -155,11 +142,6 @@ void ahrs_init(void) {
/* set inital filter dcm */
set_dcm_matrix_from_rmat(&ahrs_impl.body_to_imu_rmat);
-#if USE_HIGH_ACCEL_FLAG
- high_accel_done = FALSE;
- high_accel_flag = FALSE;
-#endif
-
ahrs_impl.gps_speed = 0;
ahrs_impl.gps_acceleration = 0;
ahrs_impl.gps_course = 0;
@@ -437,25 +419,6 @@ void Drift_correction(void)
// Weight for accelerometer info (<0.5G = 0.0, 1G = 1.0 , >1.5G = 0.0)
Accel_weight = Chop(1 - 2*fabs(1 - Accel_magnitude),0,1); //
-#if USE_HIGH_ACCEL_FLAG
- // Test for high acceleration:
- // - low speed
- // - high thrust
- float speed = *stateGetHorizontalSpeedNorm_f();
- if (speed < HIGH_ACCEL_LOW_SPEED && ap_state->commands[COMMAND_THROTTLE] > HIGH_ACCEL_HIGH_THRUST && !high_accel_done) {
- high_accel_flag = TRUE;
- } else {
- high_accel_flag = FALSE;
- if (speed > HIGH_ACCEL_LOW_SPEED && !high_accel_done) {
- high_accel_done = TRUE; // After takeoff, don't use high accel before landing (GS small, Throttle small)
- }
- if (speed < HIGH_ACCEL_HIGH_THRUST_RESUME && ap_state->commands[COMMAND_THROTTLE] < HIGH_ACCEL_HIGH_THRUST_RESUME) {
- high_accel_done = FALSE; // Activate high accel after landing
- }
- }
- if (high_accel_flag) { Accel_weight = 0.; }
-#endif
-
#if PERFORMANCE_REPORTING == 1
{