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Replace calculation of earth NED rotation vector

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kamilritz
2020-01-07 08:14:59 +11:00
committed by Paul Riseborough
parent 9f053cb8c1
commit c6e3f389d2
3 changed files with 1 additions and 8 deletions
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EKF/ekf.cpp
-7
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@@ -248,13 +248,6 @@ bool Ekf::initialiseTilt()
void Ekf::predictState()
{
if (!_earth_rate_initialised) {
if (_NED_origin_initialised) {
calcEarthRateNED(_earth_rate_NED, (float)_pos_ref.lat_rad);
_earth_rate_initialised = true;
}
}
// apply imu bias corrections
Vector3f corrected_delta_ang = _imu_sample_delayed.delta_ang - _state.delta_ang_bias;
Vector3f corrected_delta_vel = _imu_sample_delayed.delta_vel - _state.delta_vel_bias;