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EKF: Only record airspeed fusion event when states are updated

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Paul Riseborough
2020-08-15 09:29:57 +10:00
committed by Paul Riseborough
parent 486a461a5e
commit 06aa78a291
1 changed files with 0 additions and 3 deletions
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EKF/airspeed_fusion.cpp
-3
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@@ -152,9 +152,6 @@ void Ekf::fuseAirspeed()
_innov_check_fail_status.flags.reject_airspeed = false; _innov_check_fail_status.flags.reject_airspeed = false;
} }
// Airspeed measurement sample has passed check so record it
_time_last_arsp_fuse = _time_last_imu;
// apply covariance correction via P_new = (I -K*H)*P // apply covariance correction via P_new = (I -K*H)*P
// first calculate expression for KHP // first calculate expression for KHP
// then calculate P - KHP // then calculate P - KHP