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Get rid of non functional piece of code

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kamilritz
2020-06-21 14:09:50 +02:00
committed by Mathieu Bresciani
parent c3653e68ca
commit d16b43a2da
1 changed files with 1 additions and 1 deletions
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EKF/terrain_estimator.cpp
+1 -1
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@@ -191,7 +191,7 @@ void Ekf::fuseFlowForTerrain()
// calculate optical LOS rates using optical flow rates that have had the body angular rate contribution removed // calculate optical LOS rates using optical flow rates that have had the body angular rate contribution removed
// correct for gyro bias errors in the data used to do the motion compensation // correct for gyro bias errors in the data used to do the motion compensation
// Note the sign convention used: A positive LOS rate is a RH rotation of the scene about that axis. // Note the sign convention used: A positive LOS rate is a RH rotation of the scene about that axis.
const Vector2f opt_flow_rate = Vector2f(_flow_compensated_XY_rad) / _flow_sample_delayed.dt + Vector2f(_flow_gyro_bias); const Vector2f opt_flow_rate = _flow_compensated_XY_rad / _flow_sample_delayed.dt + Vector2f(_flow_gyro_bias);
// get latest estimated orientation // get latest estimated orientation
const float q0 = _state.quat_nominal(0); const float q0 = _state.quat_nominal(0);