From 300ba65f6478709de27f331ef9557140f2f3cabb Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Wed, 7 Jan 2015 12:35:05 +1100
Subject: [PATCH] AP_NavEKF: Remove duplicate flow measurement state correction

---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index d353d1409c..ff2d459515 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -2961,11 +2961,6 @@ void NavEKF::FuseOptFlow()
         } else if (!flowXfailed) {
             prevFlowFuseTime_ms = imuSampleTime_ms;
         }
-        // correct the state vector
-        for (uint8_t j = 0; j <= 21; j++)
-        {
-            states[j] = states[j] - Kfusion[j] * innovOptFlow[obsIndex];
-        }
         // Attitude, velocity and position corrections are averaged across multiple prediction cycles between now and the anticipated time for the next measurement.
         // Don't do averaging of quaternion state corrections if total angle change across predicted interval is going to exceed 0.1 rad
         bool highRates = ((flowUpdateCountMax * correctedDelAng.length()) > 0.1f);