AP_NavEKF3: ofDataNew made local

This commit is contained in:
Randy Mackay 2021-08-16 21:55:18 +09:00
parent 11847cfcf5
commit 85ade10e85
2 changed files with 1 additions and 1 deletions

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@ -196,6 +196,7 @@ void NavEKF3_core::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f
// don't use data with a low quality indicator or extreme rates (helps catch corrupt sensor data)
if ((rawFlowQuality > 0) && rawFlowRates.length() < 4.2f && rawGyroRates.length() < 4.2f) {
// correct flow sensor body rates for bias and write
of_elements ofDataNew {};
ofDataNew.bodyRadXYZ.x = rawGyroRates.x - flowGyroBias.x;
ofDataNew.bodyRadXYZ.y = rawGyroRates.y - flowGyroBias.y;
// the sensor interface doesn't provide a z axis rate so use the rate from the nav sensor instead

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@ -1164,7 +1164,6 @@ private:
// variables added for optical flow fusion
EKF_obs_buffer_t<of_elements> storedOF; // OF data buffer
of_elements ofDataNew; // OF data at the current time horizon
bool flowDataValid; // true while optical flow data is still fresh
Vector2F auxFlowObsInnov; // optical flow rate innovation from 1-state terrain offset estimator
uint32_t flowValidMeaTime_ms; // time stamp from latest valid flow measurement (msec)