TAG: Working as previous tag. Cleaned some functions and improved set_obs_phase

src/eskf_odom_alg.cpp

@@ -3,10 +3,6 @@
 EskfOdomAlgorithm::EskfOdomAlgorithm(void)
 {
   pthread_mutex_init(&this->access_,NULL);
-
-  // Set initial robot phase as landed
-  this->filter_.set_robot_phase(Robot::LANDED);
-  this->filter_.print_robot_phase();  
 }
 
 EskfOdomAlgorithm::~EskfOdomAlgorithm(void)
@@ -39,11 +35,6 @@ void EskfOdomAlgorithm::set_obs_phase(const bool& flying, const double& gnd_dist
 	this->filter_.set_obs_phase(flying,gnd_dist);
 }
 
-// void EskfOdomAlgorithm::set_obs_phase(const bool& flying)
-// {
-//   this->filter_.set_obs_phase(flying);
-// }
-
 void EskfOdomAlgorithm::set_imu_reading(const double& t, const Eigen::Vector3d& a, const Eigen::Vector3d& w)
 {
 	this->filter_.set_imu_reading(t,a,w);