From 2a2d968b2c3e87c88398ce9755e0a63a014f30b1 Mon Sep 17 00:00:00 2001
From: TSC21 <n.marques21@hotmail.com>
Date: Wed, 25 Oct 2017 18:51:00 +0100
Subject: [PATCH] modules: lpe: fix double correction on lidar

---
 src/modules/local_position_estimator/sensors/lidar.cpp | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/src/modules/local_position_estimator/sensors/lidar.cpp b/src/modules/local_position_estimator/sensors/lidar.cpp
index fac18d33de..6b55c03140 100644
--- a/src/modules/local_position_estimator/sensors/lidar.cpp
+++ b/src/modules/local_position_estimator/sensors/lidar.cpp
@@ -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();