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Remove unnecessary comments

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kamilritz
2019-12-25 17:24:43 +01:00
committed by Mathieu Bresciani
parent 36da8d82c8
commit 3daf25763e
5 changed files with 0 additions and 10 deletions
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EKF/estimator_interface.cpp
-4
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@@ -397,10 +397,8 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
// calculate the system time-stamp for the trailing edge of the flow data integration period
optflow_sample_new.time_us = time_usec - _params.flow_delay_ms * 1000;
// copy the quality metric returned by the PX4Flow sensor
optflow_sample_new.quality = flow->quality;
// copy the optical and gyro measured delta angles
// NOTE: the EKF uses the reverse sign convention to the flow sensor. EKF assumes positive LOS rate
// is produced by a RH rotation of the image about the sensor axis.
optflow_sample_new.gyroXYZ = - flow->gyrodata;
@@ -438,7 +436,6 @@ void EstimatorInterface::setExtVisionData(uint64_t time_usec, ext_vision_message
// calculate the system time-stamp for the mid point of the integration period
ev_sample_new.time_us = time_usec - _params.ev_delay_ms * 1000;
// copy required data
ev_sample_new.angErr = evdata->angErr;
ev_sample_new.posErr = evdata->posErr;
ev_sample_new.velErr = evdata->velErr;
@@ -447,7 +444,6 @@ void EstimatorInterface::setExtVisionData(uint64_t time_usec, ext_vision_message
ev_sample_new.pos = evdata->pos;
ev_sample_new.vel = evdata->vel;
// record time for comparison next measurement
_time_last_ext_vision = time_usec;
_ext_vision_buffer.push(ev_sample_new);