From 4872f2a545409149257d3ca6fb7a90691d71f94f Mon Sep 17 00:00:00 2001 From: Kamil Ritz Date: Sat, 15 Aug 2020 09:15:04 +0200 Subject: [PATCH] Remove not used code --- EKF/ekf_helper.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp index c52612e19e..d31f0a8055 100644 --- a/EKF/ekf_helper.cpp +++ b/EKF/ekf_helper.cpp @@ -99,10 +99,6 @@ void Ekf::resetHorizontalVelocityToOpticalFlow() { void Ekf::resetVelocityToVision() { ECL_INFO_TIMESTAMPED("reset to vision velocity"); - Vector3f _ev_vel = _ev_sample_delayed.vel; - if(_params.fusion_mode & MASK_ROTATE_EV){ - _ev_vel = _R_ev_to_ekf *_ev_sample_delayed.vel; - } resetVelocityTo(getVisionVelocityInEkfFrame()); P.uncorrelateCovarianceSetVariance<3>(4, getVisionVelocityVarianceInEkfFrame()); }