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AP_NavEKF2: remove unecessary assignements

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Pierre Kancir 2021-08-11 10:54:43 +02:00 committed by Randy Mackay
parent adf86357aa
commit d95f503a32
1 changed files with 0 additions and 6 deletions
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6
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -99,12 +99,6 @@ void NavEKF2_core::readRangeFinder(void)
// before takeoff we assume on-ground range value if there is no data
rangeDataNew.time_ms = imuSampleTime_ms;
rangeDataNew.rng = rngOnGnd;
rangeDataNew.time_ms = imuSampleTime_ms;
// don't allow time to go backwards
if (imuSampleTime_ms > rangeDataNew.time_ms) {
rangeDataNew.time_ms = imuSampleTime_ms;
}
// write data to buffer with time stamp to be fused when the fusion time horizon catches up with it
storedRange.push(rangeDataNew);