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EKF: remove redundant variable

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Paul Riseborough
2016-01-28 07:50:45 +11:00
parent 6326433c47
commit 4526cb9c4f
2 changed files with 1 additions and 5 deletions
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EKF/estimator_base.cpp
+1 -3
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@@ -171,8 +171,6 @@ void EstimatorBase::setGpsData(uint64_t time_usec, struct gps_message *gps)
gps_sample_new.time_us -= FILTER_UPDATE_PERRIOD_MS * 1000 / 2;
_time_last_gps = time_usec;
_last_valid_gps_time_us = _time_last_imu;
gps_sample_new.time_us = math::max(gps_sample_new.time_us, _imu_sample_delayed.time_us);
@@ -325,7 +323,7 @@ bool EstimatorBase::position_is_valid()
{
// return true if the position estimate is valid
// TOTO implement proper check based on published GPS accuracy, innovaton consistency checks and timeout status
return _gps_initialised && (_time_last_imu - _last_valid_gps_time_us) < 5e6;
return _gps_initialised && (_time_last_imu - _time_last_gps) < 5e6;
}
void EstimatorBase::printStoredIMU()
EKF/estimator_base.h
-2
View File
@@ -231,8 +231,6 @@ protected:
float _dt_imu_avg;
uint64_t _imu_time_last;
uint64_t _last_valid_gps_time_us;
imuSample _imu_sample_delayed;
imuSample _imu_down_sampled;
Quaternion