From e5ddd912a4e6ffeeb4d7aa0a861e8e07135f3086 Mon Sep 17 00:00:00 2001 From: kamilritz Date: Sat, 27 Jun 2020 17:50:27 +0200 Subject: [PATCH] Remove not needed else case --- EKF/mag_fusion.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/EKF/mag_fusion.cpp b/EKF/mag_fusion.cpp index 4cf805cd69..11ba2e7322 100644 --- a/EKF/mag_fusion.cpp +++ b/EKF/mag_fusion.cpp @@ -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