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Quaternion: removed some unused variables

This commit is contained in:
Andrew Tridgell 2012-03-08 18:13:32 +11:00
parent f39d8dbde8
commit e0cc9c93a1
1 changed files with 0 additions and 5 deletions
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libraries/AP_Quaternion/AP_Quaternion.cpp
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@ -314,7 +314,6 @@ void AP_Quaternion::update_drift(float deltat, Vector3f &gyro, Vector3f &accel,
{ {
// local system variables // local system variables
float norm; // vector norm 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 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 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; // 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 // 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_1 = 2.0f * SEq_1;
float twoSEq_2 = 2.0f * SEq_2; float twoSEq_2 = 2.0f * SEq_2;
float twoSEq_3 = 2.0f * SEq_3; float twoSEq_3 = 2.0f * SEq_3;