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Stop setting zero to zero

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kamilritz
2020-07-02 09:02:24 +02:00
committed by Mathieu Bresciani
parent 552bf824ea
commit 356b2f6ffe
4 changed files with 2 additions and 48 deletions
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EKF/airspeed_fusion.cpp
+1 -7
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@@ -112,13 +112,7 @@ void Ekf::fuseAirspeed()
SK_TAS[1] = SH_TAS[1];
if (update_wind_only) {
// If we are getting aiding from other sources, then don't allow the airspeed measurements to affect the non-windspeed states
for (unsigned row = 0; row <= 21; row++) {
Kfusion[row] = 0.0f;
}
} else {
if (!update_wind_only) {
// we have no other source of aiding, so use airspeed measurements to correct states
Kfusion[0] = SK_TAS[0]*(P(0,4)*SH_TAS[2] - P(0,22)*SH_TAS[2] + P(0,5)*SK_TAS[1] - P(0,23)*SK_TAS[1] + P(0,6)*vd*SH_TAS[0]);
Kfusion[1] = SK_TAS[0]*(P(1,4)*SH_TAS[2] - P(1,22)*SH_TAS[2] + P(1,5)*SK_TAS[1] - P(1,23)*SK_TAS[1] + P(1,6)*vd*SH_TAS[0]);