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ekf2: delete unused gps error norm field

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Daniel Agar
2024-01-12 10:14:32 -05:00
parent a38abdbf9d
commit 64f28c4c07
2 changed files with 0 additions and 5 deletions
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src/modules/ekf2/EKF/gps_checks.cpp
-4
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@@ -155,10 +155,6 @@ bool Ekf::runGnssChecks(const gnssSample &gps)
// Check the reported speed accuracy
_gps_check_fail_status.flags.sacc = (gps.sacc > _params.req_sacc);
// check if GPS quality is degraded
_gps_error_norm = fmaxf((gps.hacc / _params.req_hacc), (gps.vacc / _params.req_vacc));
_gps_error_norm = fmaxf(_gps_error_norm, (gps.sacc / _params.req_sacc));
// Calculate time lapsed since last update, limit to prevent numerical errors and calculate a lowpass filter coefficient
constexpr float filt_time_const = 10.0f;
const float dt = math::constrain(float(int64_t(gps.time_us) - int64_t(_gps_pos_prev.getProjectionReferenceTimestamp())) * 1e-6f, 0.001f, filt_time_const);