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Sub: integrate ahrs::get_variances change 

offset is no longer returned
This commit is contained in:
Randy Mackay 2020-10-20 13:25:00 +09:00
parent b83ade2b07
commit 4bf4872504
1 changed files with 1 additions and 2 deletions
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3
ArduSub/failsafe.cpp
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@ -110,10 +110,9 @@ void Sub::failsafe_ekf_check()
float posVar, hgtVar, tasVar; float posVar, hgtVar, tasVar;
Vector3f magVar; Vector3f magVar;
Vector2f offset;
float compass_variance; float compass_variance;
float vel_variance; float vel_variance;
ahrs.get_variances(vel_variance, posVar, hgtVar, magVar, tasVar, offset); ahrs.get_variances(vel_variance, posVar, hgtVar, magVar, tasVar);
compass_variance = magVar.length(); compass_variance = magVar.length();
if (compass_variance < g.fs_ekf_thresh && vel_variance < g.fs_ekf_thresh) { if (compass_variance < g.fs_ekf_thresh && vel_variance < g.fs_ekf_thresh) {