From f59343b343634630a5f9d7454ab0596680c82015 Mon Sep 17 00:00:00 2001 From: kamilritz Date: Sat, 27 Jun 2020 11:52:42 +0200 Subject: [PATCH] Remove misplaced comment --- EKF/ekf.cpp | 6 ------ 1 file changed, 6 deletions(-) diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp index 1ae582e6b0..679b9f43ff 100644 --- a/EKF/ekf.cpp +++ b/EKF/ekf.cpp @@ -456,12 +456,6 @@ void Ekf::calculateOutputStates() // using a PD feedback tuned to a 5% overshoot const float vert_vel_correction = vert_vel_integ_err * pos_gain + vert_vel_err * vel_gain * 1.1f; - /* - * Calculate corrections to be applied to vel and pos output state history. - * The vel and pos state history are corrected individually so they track the EKF states at - * the fusion time horizon. This option provides the most accurate tracking of EKF states. - */ - // loop through the vertical output filter state history starting at the oldest and apply the corrections to the // vert_vel states and propagate vert_vel_integ forward using the corrected vert_vel uint8_t index = _output_vert_buffer.get_oldest_index();