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Remove obsolete vision sample counter during initialization

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This commit is contained in:
kamilritz
2019-12-11 17:23:45 +02:00
committed by Mathieu Bresciani
parent 181303488c
commit 6941777e17
2 changed files with 0 additions and 21 deletions
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EKF/ekf.cpp
-20
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@@ -177,26 +177,6 @@ bool Ekf::initialiseFilter()
}
}
// Count the number of external vision measurements received
if (_ext_vision_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_ev_sample_delayed)) {
if ((_ev_counter == 0) && (_ev_sample_delayed.time_us != 0)) {
// initialise the counter
_ev_counter = 1;
// set the height fusion mode to use external vision data when we start getting valid data from the buffer
if (_primary_hgt_source == VDIST_SENSOR_EV) {
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = false;
_control_status.flags.ev_hgt = true;
}
} else if ((_ev_counter != 0) && (_ev_sample_delayed.time_us != 0)) {
// increment the sample count
_ev_counter ++;
}
}
// set the default height source from the adjustable parameter
if (_hgt_counter == 0) {
_primary_hgt_source = _params.vdist_sensor_type;