fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-14 16:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Remove non enterable if statement

Browse Source
This commit is contained in:
kamilritz
2019-12-11 17:23:45 +02:00
committed by Mathieu Bresciani
parent cd030e7cd2
commit 66f707ede0
1 changed files with 0 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf.cpp
-10
View File
@@ -259,16 +259,6 @@ bool Ekf::initialiseFilter()
increaseQuatYawErrVariance(sq(fmaxf(_params.mag_heading_noise, 1.0e-2f)));
}
if (_control_status.flags.rng_hgt) {
// if we are using the range finder as the primary source, then calculate the baro height at origin so we can use baro as a backup
// so it can be used as a backup ad set the initial height using the range finder
const baroSample &baro_newest = _baro_buffer.get_newest();
_baro_hgt_offset = baro_newest.hgt;
_state.pos(2) = -math::max(_rng_filt_state * _R_rng_to_earth_2_2, _params.rng_gnd_clearance);
ECL_INFO_TIMESTAMPED("EKF using range finder height - commencing alignment");
}
// try to initialise the terrain estimator
_terrain_initialised = initHagl();