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AC_PrecLand: do not fuse EKF velocity

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Jonathan Challinger 2016-10-11 13:22:28 -07:00 committed by Randy Mackay
parent 7cb9ad6e2b
commit ec73f563ad
1 changed files with 0 additions and 5 deletions
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5
libraries/AC_PrecLand/AC_PrecLand.cpp
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@ -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) {