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

AP_NavEKF3: remove unused Tbn_flow

This commit is contained in:
Randy Mackay 2021-08-16 21:55:02 +09:00
parent f9fd63e01e
commit 5779ebd177
2 changed files with 0 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
View File

@ -193,8 +193,6 @@ void NavEKF3_core::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f
// need to run the optical flow takeoff detection
detectOptFlowTakeoff();
// calculate rotation matrices at mid sample time for flow observations
stateStruct.quat.rotation_matrix(Tbn_flow);
// don't use data with a low quality indicator or extreme rates (helps catch corrupt sensor data)
if ((rawFlowQuality > 0) && rawFlowRates.length() < 4.2f && rawGyroRates.length() < 4.2f) {
// correct flow sensor body rates for bias and write

1
libraries/AP_NavEKF3/AP_NavEKF3_core.h
View File

@ -1170,7 +1170,6 @@ private:
uint32_t rngValidMeaTime_ms; // time stamp from latest valid range measurement (msec)
uint32_t flowMeaTime_ms; // time stamp from latest flow measurement (msec)
uint32_t gndHgtValidTime_ms; // time stamp from last terrain offset state update (msec)
Matrix3F Tbn_flow; // transformation matrix from body to nav axes at the middle of the optical flow sample period
Vector2 varInnovOptFlow; // optical flow innovations variances (rad/sec)^2
Vector2 innovOptFlow; // optical flow LOS innovations (rad/sec)
ftype Popt; // Optical flow terrain height state covariance (m^2)