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Avoid setting 0 to 0

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kamilritz
2020-07-16 18:25:06 +02:00
committed by Mathieu Bresciani
parent 5ef18f8823
commit efd96db49d
1 changed files with 0 additions and 4 deletions
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EKF/sideslip_fusion.cpp
-4
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@@ -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[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]; 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 // determine if we need the sideslip fusion to correct states other than wind
bool update_wind_only = !_is_wind_dead_reckoning; bool update_wind_only = !_is_wind_dead_reckoning;