From 37339de57c86b30ab004cf055187cc2bd26d431d Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Fri, 8 Mar 2019 14:27:27 +0100 Subject: [PATCH] EKF: remove unused variable Signed-off-by: CarlOlsson --- EKF/ekf_helper.cpp | 15 --------------- 1 file changed, 15 deletions(-) diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp index 513104448c..a30b5eb090 100644 --- a/EKF/ekf_helper.cpp +++ b/EKF/ekf_helper.cpp @@ -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();