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ekf2: remove unused shared fields for last velocity observation and variance

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Daniel Agar
2022-02-02 17:43:25 -05:00
parent 8a0581516c
commit 5fb0084524
4 changed files with 16 additions and 26 deletions
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src/modules/ekf2/EKF/ekf.h
-3
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@@ -420,9 +420,6 @@ private:
Vector3f _delta_vel_bias_var_accum{}; ///< kahan summation algorithm accumulator for delta velocity bias variance
Vector3f _delta_angle_bias_var_accum{}; ///< kahan summation algorithm accumulator for delta angle bias variance
Vector3f _last_vel_obs{}; ///< last velocity observation (m/s)
Vector3f _last_vel_obs_var{}; ///< last velocity observation variance (m/s)**2
Vector2f _last_fail_hvel_innov{}; ///< last failed horizontal velocity innovation (m/s)**2
float _vert_pos_innov_ratio{0.f}; ///< vertical position innovation divided by estimated standard deviation of innovation
uint64_t _vert_pos_fuse_attempt_time_us{0}; ///< last system time in usec vertical position measurement fuson was attempted
float _vert_vel_innov_ratio{0.f}; ///< standard deviation of vertical velocity innovation