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AP_NavEKF3: Remove unwanted line

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Paul Riseborough 2021-06-17 19:35:32 +10:00 committed by Andrew Tridgell
parent 2565f3917c
commit 4b88b2ccec
1 changed files with 0 additions and 1 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
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@ -711,7 +711,6 @@ void NavEKF3_core::FuseVelPosNED()
// Always fuse data if bad IMU to prevent aliasing and clipping pulling the state estimate away // Always fuse data if bad IMU to prevent aliasing and clipping pulling the state estimate away
// from the measurement un-opposed if test threshold is exceeded. // from the measurement un-opposed if test threshold is exceeded.
if (posCheckPassed || posTimeout || badIMUdata) { if (posCheckPassed || posTimeout || badIMUdata) {
posCheckPassed = true;
lastPosPassTime_ms = imuSampleTime_ms; lastPosPassTime_ms = imuSampleTime_ms;
// if timed out or outside the specified uncertainty radius, reset to the external sensor // if timed out or outside the specified uncertainty radius, reset to the external sensor
if (posTimeout || ((P[8][8] + P[7][7]) > sq(float(frontend->_gpsGlitchRadiusMax)))) { if (posTimeout || ((P[8][8] + P[7][7]) > sq(float(frontend->_gpsGlitchRadiusMax)))) {