diff options
| -rw-r--r-- | src/modules/fw_att_pos_estimator/estimator.cpp | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/src/modules/fw_att_pos_estimator/estimator.cpp b/src/modules/fw_att_pos_estimator/estimator.cpp index 0f2559c58..a7c2cb0e3 100644 --- a/src/modules/fw_att_pos_estimator/estimator.cpp +++ b/src/modules/fw_att_pos_estimator/estimator.cpp @@ -1629,14 +1629,14 @@ void RecallStates(float (&statesForFusion)[n_states], uint32_t msec) bestTimeDelta = timeDelta; } } - if (bestTimeDelta < 200) // only output stored state if < 200 msec retrieval error - { - for (uint8_t i=0; i < n_states; i++) statesForFusion[i] = storedStates[i][bestStoreIndex]; - } - else // otherwise output current state - { + // if (bestTimeDelta < 200) // only output stored state if < 200 msec retrieval error + // { + // for (uint8_t i=0; i < n_states; i++) statesForFusion[i] = storedStates[i][bestStoreIndex]; + // } + // else // otherwise output current state + // { for (uint8_t i=0; i < n_states; i++) statesForFusion[i] = states[i]; - } + // } } void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]) |