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ekf: remove unused function

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bresch
2020-05-08 16:55:23 +02:00
committed by Mathieu Bresciani
parent 26d4fbc000
commit 97b437233e
2 changed files with 0 additions and 18 deletions
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EKF/ekf_helper.cpp
-15
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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);
}
}