From 2b20c52c4d00fdcdcf5f2da2a6206d5b1ec0ea41 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 15 Nov 2017 22:01:24 +1100 Subject: [PATCH] EKF: Remove redundant code --- EKF/common.h | 1 - EKF/control.cpp | 2 +- 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/EKF/common.h b/EKF/common.h index 9d102053bd..c6fba33e67 100644 --- a/EKF/common.h +++ b/EKF/common.h @@ -235,7 +235,6 @@ struct parameters { float baro_innov_gate{5.0f}; ///< barometric and GPS height innovation consistency gate size (STD) float posNE_innov_gate{5.0f}; ///< GPS horizontal position innovation consistency gate size (STD) float vel_innov_gate{5.0f}; ///< GPS velocity innovation consistency gate size (STD) - float hgt_reset_lim{0.0f}; ///< The maximum 1-sigma uncertainty in height that can be tolerated before the height state is reset (m) // magnetometer fusion float mag_heading_noise{3.0e-1f}; ///< measurement noise used for simple heading fusion (rad) diff --git a/EKF/control.cpp b/EKF/control.cpp index 5185239f77..201e01aa59 100644 --- a/EKF/control.cpp +++ b/EKF/control.cpp @@ -581,7 +581,7 @@ void Ekf::controlHeightSensorTimeouts() bool hgt_fusion_timeout = ((_time_last_imu - _time_last_hgt_fuse) > (uint64_t)5e6); // reset the vertical position and velocity states - if ((P[9][9] > sq(_params.hgt_reset_lim)) && (hgt_fusion_timeout || continuous_bad_accel_hgt)) { + if (hgt_fusion_timeout || continuous_bad_accel_hgt) { // boolean that indicates we will do a height reset bool reset_height = false;