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AP_AHRS: remove pointless zeroing of gyro_estimate vector

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This value is assigned to in the following "if" block in both the for
and against cases, and isn't used to determine the new value.
This commit is contained in:
Peter Barker 2021-08-11 14:19:10 +10:00 committed by Peter Barker
parent 73bad9fd2d
commit 29aed55a74
1 changed files with 0 additions and 2 deletions
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2
libraries/AP_AHRS/AP_AHRS.cpp
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@ -457,7 +457,6 @@ void AP_AHRS::update_EKF2(void)
_gyro_drift = -_gyro_drift;
// calculate corrected gyro estimate for get_gyro()
_gyro_estimate.zero();
if (primary_imu == -1 || !_ins.get_gyro_health(primary_imu)) {
// the primary IMU is undefined so use an uncorrected default value from the INS library
_gyro_estimate = _ins.get_gyro();
@ -537,7 +536,6 @@ void AP_AHRS::update_EKF3(void)
_gyro_drift = -_gyro_drift;
// calculate corrected gyro estimate for get_gyro()
_gyro_estimate.zero();
if (primary_imu == -1 || !_ins.get_gyro_health(primary_imu)) {
// the primary IMU is undefined so use an uncorrected default value from the INS library
_gyro_estimate = _ins.get_gyro();