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EKF: Remove redundant code

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This commit is contained in:
Paul Riseborough
2017-11-15 22:01:24 +11:00
parent cfdab732d1
commit 2b20c52c4d
2 changed files with 1 additions and 2 deletions
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EKF/control.cpp
+1 -1
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@@ -581,7 +581,7 @@ void Ekf::controlHeightSensorTimeouts()
bool hgt_fusion_timeout = ((_time_last_imu - _time_last_hgt_fuse) > (uint64_t)5e6);
// reset the vertical position and velocity states
if ((P[9][9] > sq(_params.hgt_reset_lim)) && (hgt_fusion_timeout || continuous_bad_accel_hgt)) {
if (hgt_fusion_timeout || continuous_bad_accel_hgt) {
// boolean that indicates we will do a height reset
bool reset_height = false;