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EKF: do not update the newest attitude estimate in initialiseFilter(). Is is now done in alignOutputFilter()

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CarlOlsson
2019-03-12 19:07:55 +11:00
committed by Paul Riseborough
parent 96c5c14041
commit 000aa0de5d
1 changed files with 0 additions and 1 deletions
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EKF/ekf.cpp
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@@ -249,7 +249,6 @@ bool Ekf::initialiseFilter()
// calculate initial tilt alignment
Eulerf euler_init(roll, pitch, 0.0f);
_state.quat_nominal = Quatf(euler_init);
_output_new.quat_nominal = _state.quat_nominal;
// update transformation matrix from body to world frame
_R_to_earth = quat_to_invrotmat(_state.quat_nominal);