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ekf: remove unused function

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bresch 2020-05-08 16:49:41 +02:00 committed by Mathieu Bresciani
parent 26d4fbc000
commit 97b437233e
2 changed files with 0 additions and 18 deletions
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3
EKF/ekf.h
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@ -545,9 +545,6 @@ private:
// jacobian : 4x1 vector of partial derivatives of observation wrt each quaternion state
void updateQuaternion(const float innovation, const float variance, const float gate_sigma, const float (&yaw_jacobian)[4]);
// shrinks the yaw axis uncertainty of quaternion covariances by fusing a zero innovation yaw observation
void shrinkYawVariance();
// fuse the yaw angle obtained from a dual antenna GPS unit
void fuseGpsAntYaw();

15
EKF/ekf_helper.cpp
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@ -1800,18 +1800,3 @@ void Ekf::runYawEKFGSF()
yawEstimator.setVelocity(_gps_sample_delayed.vel.xy(), _gps_sample_delayed.vacc);
}
}
void Ekf::shrinkYawVariance()
{
if (fabsf(_R_to_earth(2, 0)) < fabsf(_R_to_earth(2, 1))) {
// rolled more than pitched so use 321 rotation order to define yaw angle
// and fuse a zero innovation yaw to shrink quaternion yaw variance
fuseYaw321(0.0f, 0.25f, true);
} else {
// pitched more than rolled so use 312 rotation order to define yaw angle
// and fuse a zero innovation yaw to shrink quaternion yaw variance
fuseYaw312(0.0f, 0.25f, true);
}
}