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Remove filtering on external vision alignment

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kamilritz
2020-01-24 08:23:12 +01:00
committed by Lorenz Meier
parent 2fe16c4ffe
commit 4b0e7b2cff
4 changed files with 3 additions and 76 deletions
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EKF/gps_yaw_fusion.cpp
-5
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@@ -393,11 +393,6 @@ bool Ekf::resetGpsAntYaw()
// update transformation matrix from body to world frame using the current estimate
_R_to_earth = Dcmf(_state.quat_nominal);
// reset the rotation from the EV to EKF frame of reference if it is being used
if ((_params.fusion_mode & MASK_ROTATE_EV) && (_params.fusion_mode & MASK_USE_EVPOS)) {
resetExtVisRotMat();
}
// update the yaw angle variance using the variance of the measurement
increaseQuatYawErrVariance(sq(fmaxf(_params.mag_heading_noise, 1.0e-2f)));