modules: lpe: fix double correction on lidar

2026-10-16 05:13:33 +08:00 · 2017-10-25 19:39:33 +01:00
parent 335c319b2e
commit 2a2d968b2c
1 changed files with 0 additions and 5 deletions
@@ -65,11 +65,6 @@ void BlockLocalPositionEstimator::lidarCorrect()

 	if (lidarMeasure(y) != OK) { return; }

-	// account for leaning
-	y(0) = y(0) *
-	       cosf(_eul(0)) *
-	       cosf(_eul(1));
-
 	// measurement matrix
 	Matrix<float, n_y_lidar, n_x> C;
 	C.setZero();