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EKF: optflow fusion cleanup

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Co-authored-by: kritz <kritz@ethz.ch>
This commit is contained in:
Paul Riseborough
2020-08-15 08:43:46 +10:00
parent 6e992a18f6
commit 0e74f3ea9d
1 changed files with 1 additions and 2 deletions
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EKF/optflow_fusion.cpp
+1 -2
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@@ -116,8 +116,7 @@ void Ekf::fuseOptFlow()
// The derivation allows for an arbitrary body to flow sensor frame rotation which is // The derivation allows for an arbitrary body to flow sensor frame rotation which is
// currently not supported by the EKF, so assume sensor frame is aligned with the // currently not supported by the EKF, so assume sensor frame is aligned with the
// body frame // body frame
Dcmf Tbs; const Dcmf Tbs = matrix::eye<float, 3>();
Tbs.identity();
// Sub Expressions // Sub Expressions
const float HK0 = -Tbs(1,0)*q2 + Tbs(1,1)*q1 + Tbs(1,2)*q0; const float HK0 = -Tbs(1,0)*q2 + Tbs(1,1)*q1 + Tbs(1,2)*q0;