diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp index 8dfafc9e89..376c0ec596 100644 --- a/libraries/AP_NavEKF/AP_NavEKF.cpp +++ b/libraries/AP_NavEKF/AP_NavEKF.cpp @@ -3349,7 +3349,6 @@ void NavEKF::ZeroVariables() // initialise time stamps imuSampleTime_ms = hal.scheduler->millis(); lastHealthyMagTime_ms = imuSampleTime_ms; - lastDivergeTime_ms = imuSampleTime_ms; TASmsecPrev = imuSampleTime_ms; BETAmsecPrev = imuSampleTime_ms; lastMagUpdate = imuSampleTime_ms; diff --git a/libraries/AP_NavEKF/AP_NavEKF.h b/libraries/AP_NavEKF/AP_NavEKF.h index 2a5c73dc2d..222045b126 100644 --- a/libraries/AP_NavEKF/AP_NavEKF.h +++ b/libraries/AP_NavEKF/AP_NavEKF.h @@ -342,7 +342,6 @@ private: AP_Int16 _hgtRetryTimeMode0; // height measurement retry time following innovation consistency fail if GPS fusion mode is = 0 (msec) AP_Int16 _hgtRetryTimeMode12; // height measurement retry time following innovation consistency fail if GPS fusion mode is > 0 (msec) uint32_t _magFailTimeLimit_ms; // number of msec before a magnetometer failing innovation consistency checks is declared failed (msec) - uint32_t lastDivergeTime_ms; // time in msec divergence of filter last detected float _gyroBiasNoiseScaler; // scale factor applied to gyro bias state process variance when on ground float _magVarRateScale; // scale factor applied to magnetometer variance due to angular rate uint16_t _msecGpsAvg; // average number of msec between GPS measurements