From 81f35d97058f4b41466ca0fcf32e2c534c71f5b9 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Thu, 9 Dec 2010 23:14:55 +0100
Subject: [PATCH] remove analog_imu_offset_set

---
 sw/airborne/firmwares/fixedwing/main_ap.c   |  6 ------
 sw/airborne/subsystems/ahrs/dcm/analogimu.c | 20 --------------------
 sw/airborne/subsystems/ahrs/dcm/analogimu.h |  1 -
 3 files changed, 27 deletions(-)

diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index f01ec76840..1762dd1fc0 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -549,12 +549,6 @@ void init_ap( void ) {
 #ifdef TRAFFIC_INFO
   traffic_info_init();
 #endif
-
-#ifdef USE_ANALOG_IMU
-  //wait 10secs for init
-  sys_time_usleep(10000000);
-  analog_imu_offset_set();
-#endif
 }
 
 
diff --git a/sw/airborne/subsystems/ahrs/dcm/analogimu.c b/sw/airborne/subsystems/ahrs/dcm/analogimu.c
index 47acfc443c..3e87f3ab0d 100644
--- a/sw/airborne/subsystems/ahrs/dcm/analogimu.c
+++ b/sw/airborne/subsystems/ahrs/dcm/analogimu.c
@@ -43,8 +43,6 @@
 // Debugging and output
 #include "led.h"
 #include "mcu_periph/uart.h"
-//#include "downlink.h"
-//#include "ap_downlink.h"
 #include "sys_time.h"
 #include "math/pprz_algebra_int.h"
 
@@ -57,24 +55,6 @@ float imu_pitch_neutral = RadOfDeg(IMU_PITCH_NEUTRAL_DEFAULT);
 
 #if ! (defined SITL || defined HITL)
 
-void analog_imu_offset_set( void ) {
-  // read IMU, really?
-  imu_periodic();
-
-  imu.gyro_neutral.p = analog_imu_values[0];
-  imu.gyro_neutral.q = analog_imu_values[1];
-  imu.gyro_neutral.r = analog_imu_values[2];
-
-  // do not set accel neutrals on startup, use the neutrals from the airfame file
-  //imu.accel_neutral.x = analog_imu_values[3];
-  //imu.accel_neutral.y = analog_imu_values[4];
-  //imu.accel_neutral.z  = analog_imu_values[5];
-
-  // Z channel should read
-  // FIXME uugh...
-  //imu.accel_neutral.z +=  (9.81f / IMU_ACCEL_Z_SENS);
-}
-
 void estimator_update_state_analog_imu( void ) {
 
   //FIXME run aligner to set gyro neutrals on ground
diff --git a/sw/airborne/subsystems/ahrs/dcm/analogimu.h b/sw/airborne/subsystems/ahrs/dcm/analogimu.h
index 22586fea74..10ebe1bf14 100644
--- a/sw/airborne/subsystems/ahrs/dcm/analogimu.h
+++ b/sw/airborne/subsystems/ahrs/dcm/analogimu.h
@@ -36,6 +36,5 @@ extern float imu_roll_neutral;
 extern float imu_pitch_neutral;
 
 void estimator_update_state_analog_imu( void );
-void analog_imu_offset_set( void );
 
 #endif // _ANALOGIMU_H_