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AP_NavEKF2: remove unused innovationIncrement and lastInnovation

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Peter Barker 2020-10-17 11:30:16 +11:00 committed by Andrew Tridgell
parent 02c9aa2ae2
commit 80f9ef7ed1
2 changed files with 0 additions and 6 deletions
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2
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -239,8 +239,6 @@ void NavEKF2_core::InitialiseVariables()
gpsNotAvailable = true;
motorsArmed = false;
prevMotorsArmed = false;
innovationIncrement = 0;
lastInnovation = 0;
memset(&gpsCheckStatus, 0, sizeof(gpsCheckStatus));
gpsSpdAccPass = false;
ekfInnovationsPass = false;

4
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -1061,10 +1061,6 @@ private:
uint32_t lastInnovFailTime_ms; // last time in msec the GPS innovations failed
bool gpsAccuracyGood; // true when the GPS accuracy is considered to be good enough for safe flight.
// States used for unwrapping of compass yaw error
float innovationIncrement;
float lastInnovation;
// variables added for optical flow fusion
obs_ring_buffer_t<of_elements> storedOF; // OF data buffer
of_elements ofDataNew; // OF data at the current time horizon