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AP_NavEKF3: wheelOdmDataNew member made local 

this variable is never used outside the writeWheelOdom method
This commit is contained in:
Randy Mackay 2020-08-18 12:05:12 +09:00
parent 3d5161f364
commit 056a2de260
2 changed files with 1 additions and 1 deletions
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1
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -162,6 +162,7 @@ void NavEKF3_core::writeWheelOdom(float delAng, float delTime, uint32_t timeStam
return; return;
} }
wheel_odm_elements wheelOdmDataNew = {};
wheelOdmDataNew.hub_offset = &posOffset; wheelOdmDataNew.hub_offset = &posOffset;
wheelOdmDataNew.delAng = delAng; wheelOdmDataNew.delAng = delAng;
wheelOdmDataNew.radius = radius; wheelOdmDataNew.radius = radius;

1
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -1262,7 +1262,6 @@ private:
// wheel sensor fusion // wheel sensor fusion
uint32_t wheelOdmMeasTime_ms; // time wheel odometry measurements were accepted for input to the data buffer (msec) uint32_t wheelOdmMeasTime_ms; // time wheel odometry measurements were accepted for input to the data buffer (msec)
obs_ring_buffer_t<wheel_odm_elements> storedWheelOdm; // body velocity data buffer obs_ring_buffer_t<wheel_odm_elements> storedWheelOdm; // body velocity data buffer
wheel_odm_elements wheelOdmDataNew; // Body frame odometry data at the current time horizon
wheel_odm_elements wheelOdmDataDelayed; // Body frame odometry data at the fusion time horizon wheel_odm_elements wheelOdmDataDelayed; // Body frame odometry data at the fusion time horizon
// yaw sensor fusion // yaw sensor fusion