From ec73f563ad1bb95ca38cfc94d3454a3c221f877c Mon Sep 17 00:00:00 2001 From: Jonathan Challinger Date: Tue, 11 Oct 2016 13:22:28 -0700 Subject: [PATCH] AC_PrecLand: do not fuse EKF velocity --- libraries/AC_PrecLand/AC_PrecLand.cpp | 5 ----- 1 file changed, 5 deletions(-) diff --git a/libraries/AC_PrecLand/AC_PrecLand.cpp b/libraries/AC_PrecLand/AC_PrecLand.cpp index 4c50e39477..1672a8be02 100644 --- a/libraries/AC_PrecLand/AC_PrecLand.cpp +++ b/libraries/AC_PrecLand/AC_PrecLand.cpp @@ -129,11 +129,6 @@ void AC_PrecLand::update(float rangefinder_alt_cm, bool rangefinder_alt_valid) _ekf_x.predict(dt, targetDelVel.x, 0.5f*dt); _ekf_y.predict(dt, targetDelVel.y, 0.5f*dt); - - if (_inav.get_filter_status().flags.horiz_pos_rel) { - _ekf_x.fuseVel(-vehicleVelocityNED.x, sq(1.0f)); - _ekf_y.fuseVel(-vehicleVelocityNED.y, sq(1.0f)); - } } if (_backend->have_los_meas() && _backend->los_meas_time_ms() != _last_backend_los_meas_ms) {