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EKF: update initial angle alignment check

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Paul Riseborough
2016-05-05 21:23:03 +10:00
parent bc34b14779
commit 727a43764f
4 changed files with 3 additions and 15 deletions
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EKF/ekf.h
-3
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@@ -180,9 +180,6 @@ private:
float _heading_innov; // heading measurement innovation
float _heading_innov_var; // heading measurement innovation variance
Vector3f _tilt_err_vec; // Vector of the most recent attitude error correction from velocity and position fusion
float _tilt_err_length_filt; // filtered length of _tilt_err_vec
// optical flow processing
float _flow_innov[2]; // flow measurement innovation
float _flow_innov_var[2]; // flow innovation variance