modules: lpe: fix double correction on lidar

2017-10-25 18:51:00 +01:00 · 2017-10-25 18:51:00 +01:00 · 2a2d968b2c
parent 335c319b2e
commit 2a2d968b2c
1 changed files with 0 additions and 5 deletions
--- a/src/modules/local_position_estimator/sensors/lidar.cpp
+++ b/src/modules/local_position_estimator/sensors/lidar.cpp
@ -65,11 +65,6 @@ void BlockLocalPositionEstimator::lidarCorrect()

 	if (lidarMeasure(y) != OK) { return; }

-	// account for leaning
-	y(0) = y(0) *
-	       cosf(_eul(0)) *
-	       cosf(_eul(1));
-
 	// measurement matrix
 	Matrix<float, n_y_lidar, n_x> C;
 	C.setZero();