diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator_22states.cpp')
-rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_22states.cpp | 28 |
1 files changed, 0 insertions, 28 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp index 4e4ef3b92..28d0fde34 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp @@ -2049,11 +2049,6 @@ void AttPosEKF::FuseOptFlow() } } -/* -Estimation of optical flow sensor focal length scale factor and terrain height using a two state EKF -This fiter requires optical flow rates that are not motion compensated -Range to ground measurement is assumed to be via a narrow beam type sensor - eg laser -*/ void AttPosEKF::OpticalFlowEKF() { // propagate ground position state noise each time this is called using the difference in position since the last observations and an RMS gradient assumption @@ -2806,12 +2801,6 @@ bool AttPosEKF::FilterHealthy() return true; } -/** - * Reset the filter position states - * - * This resets the position to the last GPS measurement - * or to zero in case of static position. - */ void AttPosEKF::ResetPosition(void) { if (staticMode) { @@ -2825,20 +2814,12 @@ void AttPosEKF::ResetPosition(void) } } -/** - * Reset the height state. - * - * This resets the height state with the last altitude measurements - */ void AttPosEKF::ResetHeight(void) { // write to the state vector states[9] = -hgtMea; } -/** - * Reset the velocity state. - */ void AttPosEKF::ResetVelocity(void) { if (staticMode) { @@ -2931,15 +2912,6 @@ out: } -/** - * Check the filter inputs and bound its operational state - * - * This check will reset the filter states if required - * due to a failure of consistency or timeout checks. - * it should be run after the measurement data has been - * updated, but before any of the fusion steps are - * executed. - */ int AttPosEKF::CheckAndBound(struct ekf_status_report *last_error) { |