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Copter: remove unused hgt_variance_filt

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this filter is populated but never checked when checking variances
This commit is contained in:
Peter Barker 2025-01-29 13:08:51 +11:00 committed by Peter Barker
parent 29655d149c
commit 8425bf46dd
4 changed files with 0 additions and 4 deletions
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1
ArduCopter/Copter.cpp
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@ -962,7 +962,6 @@ Copter::Copter(void)
flight_modes(&g.flight_mode1),
pos_variance_filt(FS_EKF_FILT_DEFAULT),
vel_variance_filt(FS_EKF_FILT_DEFAULT),
hgt_variance_filt(FS_EKF_FILT_DEFAULT),
flightmode(&mode_stabilize),
simple_cos_yaw(1.0f),
super_simple_cos_yaw(1.0),

1
ArduCopter/Copter.h
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@ -335,7 +335,6 @@ private:
// thus failsafes should be triggered on filtered values in order to avoid transient errors
LowPassFilterFloat pos_variance_filt;
LowPassFilterFloat vel_variance_filt;
LowPassFilterFloat hgt_variance_filt;
bool variances_valid;
uint32_t last_ekf_check_us;

1
ArduCopter/ekf_check.cpp
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@ -128,7 +128,6 @@ bool Copter::ekf_over_threshold()
// always update filtered values as this serves the vibration check as well
position_var = pos_variance_filt.apply(position_var, dt);
vel_var = vel_variance_filt.apply(vel_var, dt);
height_var = hgt_variance_filt.apply(height_var, dt);
last_ekf_check_us = now_us;

1
ArduCopter/system.cpp
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@ -200,7 +200,6 @@ void Copter::init_ardupilot()
pos_variance_filt.set_cutoff_frequency(g2.fs_ekf_filt_hz);
vel_variance_filt.set_cutoff_frequency(g2.fs_ekf_filt_hz);
hgt_variance_filt.set_cutoff_frequency(g2.fs_ekf_filt_hz);
// flag that initialisation has completed
ap.initialised = true;