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AP_NavEKF3: remove storedRange member variable if rangefinder measurements disabled

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Peter Barker 2024-07-04 14:37:13 +10:00 committed by Peter Barker
parent 3dff46b2b2
commit ce48932f4d
2 changed files with 4 additions and 0 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -394,7 +394,9 @@ void NavEKF3_core::InitialiseVariables()
storedGPS.reset();
storedBaro.reset();
storedTAS.reset();
#if EK3_FEATURE_RANGEFINDER_MEASUREMENTS
storedRange.reset();
#endif
storedOutput.reset();
#if EK3_FEATURE_BEACON_FUSION
rngBcn.storedRange.reset();

2
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -1056,7 +1056,9 @@ private:
EKF_obs_buffer_t<mag_elements> storedMag; // Magnetometer data buffer
EKF_obs_buffer_t<baro_elements> storedBaro; // Baro data buffer
EKF_obs_buffer_t<tas_elements> storedTAS; // TAS data buffer
#if EK3_FEATURE_RANGEFINDER_MEASUREMENTS
EKF_obs_buffer_t<range_elements> storedRange; // Range finder data buffer
#endif
EKF_IMU_buffer_t<output_elements> storedOutput;// output state buffer
Matrix3F prevTnb; // previous nav to body transformation used for INS earth rotation compensation
ftype accNavMag; // magnitude of navigation accel - used to adjust GPS obs variance (m/s^2)