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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-09 23:54:04 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-09 23:54:04 +0100 |
commit | efecd85658eecd0b0651a21c37d3936589074e91 (patch) | |
tree | c61937fd22ffc9e2d3440b26eb3fe947df23776f /src/modules/fw_att_pos_estimator/estimator.cpp | |
parent | c13f7d1f4b6db3d6be99b744eb454a6fcb706311 (diff) | |
download | px4-firmware-efecd85658eecd0b0651a21c37d3936589074e91.tar.gz px4-firmware-efecd85658eecd0b0651a21c37d3936589074e91.tar.bz2 px4-firmware-efecd85658eecd0b0651a21c37d3936589074e91.zip |
Further build cleanup
Diffstat (limited to 'src/modules/fw_att_pos_estimator/estimator.cpp')
-rw-r--r-- | src/modules/fw_att_pos_estimator/estimator.cpp | 4 |
1 files changed, 1 insertions, 3 deletions
diff --git a/src/modules/fw_att_pos_estimator/estimator.cpp b/src/modules/fw_att_pos_estimator/estimator.cpp index 24e3f4f16..9be12e700 100644 --- a/src/modules/fw_att_pos_estimator/estimator.cpp +++ b/src/modules/fw_att_pos_estimator/estimator.cpp @@ -22,7 +22,6 @@ Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s Vector3f dVelIMU; Vector3f dAngIMU; float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec) -float dt; // time lapsed since last covariance prediction uint8_t fusionModeGPS = 0; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity float innovVelPos[6]; // innovation output float varInnovVelPos[6]; // innovation variance output @@ -292,7 +291,7 @@ void UpdateStrapdownEquationsNED() } -void CovariancePrediction() +void CovariancePrediction(float dt) { // scalars float windVelSigma; @@ -1868,5 +1867,4 @@ void InitialiseFilter(float (&initvelNED)[3]) summedDelVel.x = 0.0f; summedDelVel.y = 0.0f; summedDelVel.z = 0.0f; - dt = 0.0f; } |