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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/gps_yaw_fusion.cpp
-4
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@@ -169,8 +169,6 @@ void Ekf::fuseGpsAntYaw()
float Kfusion[_k_num_states] = {};
for (uint8_t row = 0; row <= 15; row++) {
Kfusion[row] = 0.0f;
for (uint8_t col = 0; col <= 3; col++) {
Kfusion[row] += P(row,col) * H_YAW[col];
}
@@ -180,8 +178,6 @@ void Ekf::fuseGpsAntYaw()
if (_control_status.flags.wind) {
for (uint8_t row = 22; row <= 23; row++) {
Kfusion[row] = 0.0f;
for (uint8_t col = 0; col <= 3; col++) {
Kfusion[row] += P(row,col) * H_YAW[col];
}