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AP_NavEKF2: remove unused variables

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Peter Barker 2020-11-22 15:21:18 +11:00 committed by Peter Barker
parent 0529ddcd67
commit fc7e7dcee4
2 changed files with 0 additions and 5 deletions
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1
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -133,7 +133,6 @@ void NavEKF2_core::InitialiseVariables()
lastTasPassTime_ms = 0;
lastYawTime_ms = imuSampleTime_ms;
lastTimeGpsReceived_ms = 0;
lastDecayTime_ms = imuSampleTime_ms;
timeAtLastAuxEKF_ms = imuSampleTime_ms;
flowValidMeaTime_ms = imuSampleTime_ms;
rngValidMeaTime_ms = imuSampleTime_ms;

4
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -872,7 +872,6 @@ private:
uint32_t lastYawTime_ms; // time stamp when yaw observation was last fused (msec)
uint32_t ekfStartTime_ms; // time the EKF was started (msec)
Vector2f lastKnownPositionNE; // last known position
uint32_t lastDecayTime_ms; // time of last decay of GPS position offset
float velTestRatio; // sum of squares of GPS velocity innovation divided by fail threshold
float posTestRatio; // sum of squares of GPS position innovation divided by fail threshold
float hgtTestRatio; // sum of squares of baro height innovation divided by fail threshold
@ -907,8 +906,6 @@ private:
imu_elements imuDataNew; // IMU data at the current time horizon
imu_elements imuDataDownSampledNew; // IMU data at the current time horizon that has been downsampled to a 100Hz rate
Quaternion imuQuatDownSampleNew; // Quaternion obtained by rotating through the IMU delta angles since the start of the current down sampled frame
uint8_t fifoIndexNow; // Global index for inertial and output solution at current time horizon
uint8_t fifoIndexDelayed; // Global index for inertial and output solution at delayed/fusion time horizon
baro_elements baroDataNew; // Baro data at the current time horizon
baro_elements baroDataDelayed; // Baro data at the fusion time horizon
range_elements rangeDataNew; // Range finder data at the current time horizon
@ -944,7 +941,6 @@ private:
uint32_t lastPosResetD_ms; // System time at which the last position reset occurred. Returned by getLastPosDownReset
float yawTestRatio; // square of magnetometer yaw angle innovation divided by fail threshold
Quaternion prevQuatMagReset; // Quaternion from the last time the magnetic field state reset condition test was performed
uint8_t fusionHorizonOffset; // number of IMU samples that the fusion time horizon has been shifted to prevent multiple EKF instances fusing data at the same time
float hgtInnovFiltState; // state used for fitering of the height innovations used for pre-flight checks
uint8_t magSelectIndex; // Index of the magnetometer that is being used by the EKF
bool runUpdates; // boolean true when the EKF updates can be run