position_estimator_inav: don’t use GPS vertical speed

3 files changed, 0 insertions, 8 deletions

diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 5be59f965..d95de11c4 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -656,7 +656,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 		float w_xy_gps_p = params.w_xy_gps_p * w_gps_xy;
 		float w_xy_gps_v = params.w_xy_gps_v * w_gps_xy;
 		float w_z_gps_p = params.w_z_gps_p * w_gps_z;
-		float w_z_gps_v = params.w_z_gps_v * w_gps_z;
 
 		/* reduce GPS weight if optical flow is good */
 		if (use_flow && flow_accurate) {
@@ -682,7 +681,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 		}
 		if (use_gps_z) {
 			accel_bias_corr[2] -= corr_gps[2][0] * w_z_gps_p * w_z_gps_p;
-			accel_bias_corr[2] -= corr_gps[2][1] * w_z_gps_v;
 		}
 
 		if (use_flow) {
@@ -709,7 +707,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 		/* inertial filter correction for altitude */
 		inertial_filter_correct(corr_baro, dt, z_est, 0, params.w_z_baro);
 		inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p);
-		inertial_filter_correct(corr_gps[2][1], dt, z_est, 1, w_z_gps_v);
 		inertial_filter_correct(corr_acc[2], dt, z_est, 2, params.w_z_acc);
 
 		if (can_estimate_xy) {
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c
index 77299bd71..da4c9482c 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c
@@ -42,7 +42,6 @@
 
 PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 1.0f);
 PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.5f);
-PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_V, 1.0f);
 PARAM_DEFINE_FLOAT(INAV_W_Z_ACC, 20.0f);
 PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f);
 PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f);
@@ -63,7 +62,6 @@ int parameters_init(struct position_estimator_inav_param_handles *h)
 {
 	h->w_z_baro = param_find("INAV_W_Z_BARO");
 	h->w_z_gps_p = param_find("INAV_W_Z_GPS_P");
-	h->w_z_gps_v = param_find("INAV_W_Z_GPS_V");
 	h->w_z_acc = param_find("INAV_W_Z_ACC");
 	h->w_z_sonar = param_find("INAV_W_Z_SONAR");
 	h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P");
@@ -87,7 +85,6 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str
 {
 	param_get(h->w_z_baro, &(p->w_z_baro));
 	param_get(h->w_z_gps_p, &(p->w_z_gps_p));
-	param_get(h->w_z_gps_v, &(p->w_z_gps_v));
 	param_get(h->w_z_acc, &(p->w_z_acc));
 	param_get(h->w_z_sonar, &(p->w_z_sonar));
 	param_get(h->w_xy_gps_p, &(p->w_xy_gps_p));
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.h b/src/modules/position_estimator_inav/position_estimator_inav_params.h
index f583f4b7d..e2be079d3 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.h
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.h
@@ -43,7 +43,6 @@
 struct position_estimator_inav_params {
 	float w_z_baro;
 	float w_z_gps_p;
-	float w_z_gps_v;
 	float w_z_acc;
 	float w_z_sonar;
 	float w_xy_gps_p;
@@ -64,7 +63,6 @@ struct position_estimator_inav_params {
 struct position_estimator_inav_param_handles {
 	param_t w_z_baro;
 	param_t w_z_gps_p;
-	param_t w_z_gps_v;
 	param_t w_z_acc;
 	param_t w_z_sonar;
 	param_t w_xy_gps_p;