Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
View File

@ -162,6 +162,7 @@ void NavEKF3_core::writeWheelOdom(float delAng, float delTime, uint32_t timeStam
return;
}
wheel_odm_elements wheelOdmDataNew = {};
wheelOdmDataNew.hub_offset = &posOffset;
wheelOdmDataNew.delAng = delAng;
wheelOdmDataNew.radius = radius;

1
libraries/AP_NavEKF3/AP_NavEKF3_core.h
View File

@ -1262,7 +1262,6 @@ private:
// wheel sensor fusion
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
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
// yaw sensor fusion