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EKF: remove unused variable

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
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CarlOlsson 2019-03-08 14:27:27 +01:00 committed by Paul Riseborough
parent 6c759e0e9f
commit 37339de57c
1 changed files with 0 additions and 15 deletions
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15
EKF/ekf_helper.cpp
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@ -716,21 +716,6 @@ bool Ekf::resetMagHeading(Vector3f &mag_init)
Quatf q_error = quat_before_reset.inversed() * quat_after_reset;
q_error.normalize();
// convert the quaternion delta to a delta angle
Vector3f delta_ang_error;
float scalar;
if (q_error(0) >= 0.0f) {
scalar = -2.0f;
} else {
scalar = 2.0f;
}
delta_ang_error(0) = scalar * q_error(1);
delta_ang_error(1) = scalar * q_error(2);
delta_ang_error(2) = scalar * q_error(3);
// update quaternion states
_state.quat_nominal = quat_after_reset;
uncorrelateQuatStates();