fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 05:04:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

Remove not needed else case

Browse Source
This commit is contained in:
kamilritz 2020-06-27 17:50:27 +02:00 committed by Mathieu Bresciani
parent 430497e2f7
commit e5ddd912a4
1 changed files with 0 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
EKF/mag_fusion.cpp
View File

@ -327,8 +327,6 @@ void Ekf::fuseMag()
Kfusion(20) = SK_MZ[0]*(P(20,21) + P(20,0)*SH_MAG[1] - P(20,1)*SH_MAG[2] + P(20,3)*SH_MAG[0] + P(20,2)*SK_MZ[2] + P(20,18)*SK_MZ[1] + P(20,16)*SK_MZ[4] - P(20,17)*SK_MZ[3]);
Kfusion(21) = SK_MZ[0]*(P(21,21) + P(21,0)*SH_MAG[1] - P(21,1)*SH_MAG[2] + P(21,3)*SH_MAG[0] + P(21,2)*SK_MZ[2] + P(21,18)*SK_MZ[1] + P(21,16)*SK_MZ[4] - P(21,17)*SK_MZ[3]);
} else {
return;
}
// apply covariance correction via P_new = (I -K*H)*P