From 960b80ee719774187bcaa840a690345b924f6bae Mon Sep 17 00:00:00 2001 From: kamilritz Date: Sun, 26 Jul 2020 11:34:40 +0200 Subject: [PATCH] Do not update output filter a second time after reset to flow. --- EKF/control.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/EKF/control.cpp b/EKF/control.cpp index 01a996499c..0a3bd8f504 100644 --- a/EKF/control.cpp +++ b/EKF/control.cpp @@ -432,9 +432,6 @@ void Ekf::controlOpticalFlowFusion() // but _flow_compensated_XY_rad is this zero as it gets updated for the first time below here. resetVelocity(); resetHorizontalPosition(); - - // align the output observer to the EKF states - alignOutputFilter(); } }