use time from parameter

1 files changed, 1 insertions, 13 deletions

diff --git a/ctrl/kinematics.vala b/ctrl/kinematics.vala
index 0f07f62..9993582 100644
--- a/ctrl/kinematics.vala
+++ b/ctrl/kinematics.vala
@@ -40,8 +40,6 @@ public class Kinematics {
 	/* filter tuning constant */
 	double beta;
 
-	uint i = 0;
-
 	public Kinematics() {
 		reset();
 
@@ -49,15 +47,7 @@ public class Kinematics {
 		beta = Math.sqrt(3.0 / 4.0) * (Math.PI * (gyroMeasError / 180.0));
 	}
 
-	public void update(double gx, double gy, double gz, double ax, double ay, double az, double mx, double my, double mz, double time) {
-		//var deltat = time/1000000.0;
-		//stdout.printf(@"$deltat\n");
-		var deltat = 0.01;
-
-		i++;
-
-		//stdout.printf(@"$i $gx $gy $gz\n");
-
+	public void update(double gx, double gy, double gz, double ax, double ay, double az, double mx, double my, double mz, double deltat) {
 		/* auxiliary variables to avoid reapeated calcualtions */
 		var halfSEq_1 = 0.5 * SEq_1;
 		var halfSEq_2 = 0.5 * SEq_2;
@@ -157,8 +147,6 @@ public class Kinematics {
 		result[AXIS.X] = phi;   /* roll */
 		result[AXIS.Y] = theta; /* pitch */
 		result[AXIS.Z] = psi;   /* yaw */
-
-		stdout.printf(@"$i $(degree(result[AXIS.X]))\t$(degree(result[AXIS.Y]))\t$(degree(result[AXIS.Z]))\n");
 	}
 
 	public double[] get_data() {