diff options
Diffstat (limited to 'src/modules/position_estimator_inav/position_estimator_inav_main.c')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 3 |
1 files changed, 0 insertions, 3 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) { |