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Remove if statement that can not be entered

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kamilritz
2019-12-11 17:23:45 +02:00
committed by Mathieu Bresciani
parent 6941777e17
commit 4bc6ae69ae
1 changed files with 1 additions and 4 deletions
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EKF/ekf.cpp
+1 -4
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@@ -254,10 +254,7 @@ bool Ekf::initialiseFilter()
initialiseCovariance();
// update the yaw angle variance using the variance of the measurement
if (_control_status.flags.ev_yaw) {
// using error estimate from external vision data TODO: this is never true
increaseQuatYawErrVariance(sq(fmaxf(_ev_sample_delayed.angErr, 1.0e-2f)));
} else if (_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) {
if (_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) {
// using magnetic heading tuning parameter
increaseQuatYawErrVariance(sq(fmaxf(_params.mag_heading_noise, 1.0e-2f)));
}