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ekf2: delete orientation_covariances_euler()

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- usage replaced with now public calcRotVecVariances()
This commit is contained in:
Daniel Agar
2022-12-06 09:43:29 -05:00
parent a187bb3b80
commit 8eb2a0a3ec
3 changed files with 5 additions and 64 deletions
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src/modules/ekf2/EKF2.cpp
+1 -1
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@@ -1196,7 +1196,7 @@ void EKF2::PublishOdometry(const hrt_abstime &timestamp)
_ekf.position_covariances().diag().copyTo(odom.position_variance);
// orientation covariance
_ekf.orientation_covariances_euler().diag().copyTo(odom.orientation_variance);
_ekf.calcRotVecVariances().copyTo(odom.orientation_variance);
odom.reset_counter = _ekf.get_quat_reset_count()
+ _ekf.get_velNE_reset_count() + _ekf.get_velD_reset_count()