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

Avoid setting 0 to 0

Browse Source
This commit is contained in:
kamilritz 2020-07-03 16:35:13 +02:00 committed by Mathieu Bresciani
parent 5ef18f8823
commit efd96db49d
1 changed files with 0 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
EKF/sideslip_fusion.cpp
View File

@ -106,10 +106,6 @@ void Ekf::fuseSideslip()
H_BETA[22] = SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7];
H_BETA[23] = SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2) - SH_BETA[6];
for (uint8_t i = 7; i <= 21; i++) {
H_BETA[i] = 0.0f;
}
// determine if we need the sideslip fusion to correct states other than wind
bool update_wind_only = !_is_wind_dead_reckoning;