From e0cc9c93a1cb7a1d9ca8e289c70b8b2ac011665d Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 8 Mar 2012 18:13:32 +1100 Subject: [PATCH] Quaternion: removed some unused variables --- libraries/AP_Quaternion/AP_Quaternion.cpp | 5 ----- 1 file changed, 5 deletions(-) diff --git a/libraries/AP_Quaternion/AP_Quaternion.cpp b/libraries/AP_Quaternion/AP_Quaternion.cpp index 7fe75022b5..2507e65e88 100644 --- a/libraries/AP_Quaternion/AP_Quaternion.cpp +++ b/libraries/AP_Quaternion/AP_Quaternion.cpp @@ -314,7 +314,6 @@ void AP_Quaternion::update_drift(float deltat, Vector3f &gyro, Vector3f &accel, { // local system variables float norm; // vector norm - float SEqDot_omega_1, SEqDot_omega_2, SEqDot_omega_3, SEqDot_omega_4; // quaternion rate from gyroscopes elements float f_1, f_2, f_3, f_4, f_5, f_6; // objective function elements float J_11or24, J_12or23, J_13or22, J_14or21, J_32, J_33, // objective function Jacobian elements J_41, J_42, J_43, J_44, J_51, J_52, J_53, J_54, J_61, J_62, J_63, J_64; // @@ -343,10 +342,6 @@ void AP_Quaternion::update_drift(float deltat, Vector3f &gyro, Vector3f &accel, } // auxiliary variables to avoid repeated calculations - float halfSEq_1 = 0.5f * SEq_1; - float halfSEq_2 = 0.5f * SEq_2; - float halfSEq_3 = 0.5f * SEq_3; - float halfSEq_4 = 0.5f * SEq_4; float twoSEq_1 = 2.0f * SEq_1; float twoSEq_2 = 2.0f * SEq_2; float twoSEq_3 = 2.0f * SEq_3;