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AP_NavEKF3: remove unused usingWheelSensors variable

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This variable was set but never consumed
This commit is contained in:
Randy Mackay 2020-08-18 11:52:46 +09:00
parent c4b7a1c41a
commit 3d5161f364
3 changed files with 0 additions and 5 deletions
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3
libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
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@ -1804,8 +1804,6 @@ void NavEKF3_core::SelectBodyOdomFusion()
// start performance timer
hal.util->perf_begin(_perf_FuseBodyOdom);
usingWheelSensors = false;
// Fuse data into the main filter
FuseBodyVel();
@ -1832,7 +1830,6 @@ void NavEKF3_core::SelectBodyOdomFusion()
// This is a hack to enable use of the existing body frame velocity fusion method
// TODO write a dedicated observation model for wheel encoders
usingWheelSensors = true;
bodyOdmDataDelayed.vel = prevTnb * velNED;
bodyOdmDataDelayed.body_offset = wheelOdmDataDelayed.hub_offset;
bodyOdmDataDelayed.velErr = frontend->_wencOdmVelErr;

1
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -402,7 +402,6 @@ void NavEKF3_core::InitialiseVariables()
bodyOdmMeasTime_ms = 0;
bodyVelFusionDelayed = false;
bodyVelFusionActive = false;
usingWheelSensors = false;
wheelOdmMeasTime_ms = 0;
// yaw sensor fusion

1
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -1261,7 +1261,6 @@ private:
// wheel sensor fusion
uint32_t wheelOdmMeasTime_ms; // time wheel odometry measurements were accepted for input to the data buffer (msec)
bool usingWheelSensors; // true when the body frame velocity fusion method should take onbservation data from the wheel odometry buffer
obs_ring_buffer_t<wheel_odm_elements> storedWheelOdm; // body velocity data buffer
wheel_odm_elements wheelOdmDataNew; // Body frame odometry data at the current time horizon
wheel_odm_elements wheelOdmDataDelayed; // Body frame odometry data at the fusion time horizon