mirror of https://github.com/ArduPilot/ardupilot
Quaternion: removed some unused variables
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@ -314,7 +314,6 @@ void AP_Quaternion::update_drift(float deltat, Vector3f &gyro, Vector3f &accel,
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{
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// local system variables
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float norm; // vector norm
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float SEqDot_omega_1, SEqDot_omega_2, SEqDot_omega_3, SEqDot_omega_4; // quaternion rate from gyroscopes elements
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float f_1, f_2, f_3, f_4, f_5, f_6; // objective function elements
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float J_11or24, J_12or23, J_13or22, J_14or21, J_32, J_33, // objective function Jacobian elements
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J_41, J_42, J_43, J_44, J_51, J_52, J_53, J_54, J_61, J_62, J_63, J_64; //
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@ -343,10 +342,6 @@ void AP_Quaternion::update_drift(float deltat, Vector3f &gyro, Vector3f &accel,
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}
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// auxiliary variables to avoid repeated calculations
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float halfSEq_1 = 0.5f * SEq_1;
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float halfSEq_2 = 0.5f * SEq_2;
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float halfSEq_3 = 0.5f * SEq_3;
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float halfSEq_4 = 0.5f * SEq_4;
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float twoSEq_1 = 2.0f * SEq_1;
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float twoSEq_2 = 2.0f * SEq_2;
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float twoSEq_3 = 2.0f * SEq_3;
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