From dd1d58bab56de2b93aa5c461e82f82001e421ed6 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 7 Mar 2016 22:41:38 +1100
Subject: [PATCH] EKF: Remove unnecessary matrix operations from optical flow
 fusion

The updated formulation means that H_LOS[][8] is always zero, so these operations are no longer required.
---
 EKF/optflow_fusion.cpp | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/EKF/optflow_fusion.cpp b/EKF/optflow_fusion.cpp
index 40da07635d..f4aff85dbc 100644
--- a/EKF/optflow_fusion.cpp
+++ b/EKF/optflow_fusion.cpp
@@ -456,8 +456,6 @@ void Ekf::fuseOptFlow()
 			for (unsigned column = 0; column <= 5; column++) {
 				KH[row][column] = gain[row] * H_LOS[obs_index][column];
 			}
-
-			KH[row][8] = gain[row] * H_LOS[obs_index][8];
 		}
 
 		for (unsigned row = 0; row < _k_num_states; row++) {
@@ -468,7 +466,6 @@ void Ekf::fuseOptFlow()
 				tmp += KH[row][3] * P[3][column];
 				tmp += KH[row][4] * P[4][column];
 				tmp += KH[row][5] * P[5][column];
-				tmp += KH[row][8] * P[8][column];
 				KHP[row][column] = tmp;
 			}
 		}