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Remove filtering on external vision alignment

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kamilritz
2020-01-23 15:36:48 +01:00
committed by Lorenz Meier
parent 2fe16c4ffe
commit 4b0e7b2cff
4 changed files with 3 additions and 76 deletions
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EKF/control.cpp
-8
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@@ -205,14 +205,6 @@ void Ekf::controlExternalVisionFusion()
resetVelocity();
ECL_INFO_TIMESTAMPED("commencing external vision velocity fusion");
}
if ((_params.fusion_mode & MASK_ROTATE_EV) && !(_params.fusion_mode & MASK_USE_EVYAW)
&& !_R_ev_to_ekf_initialised) {
// Reset transformation between EV and EKF navigation frames when starting fusion
resetExtVisRotMat();
_R_ev_to_ekf_initialised = true;
ECL_INFO_TIMESTAMPED("external vision aligned");
}
}
}