From 647c568ab979383dc0b1d310fba107259eedcdb0 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 4 Jan 2021 08:57:22 +0900 Subject: [PATCH] AP_NavEKF3: out-of-date comments removed GPS, Static and ExtNav yaw buffers have been separated --- libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp index 2e071d10d1..17e4816a35 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp @@ -1075,12 +1075,10 @@ bool NavEKF3_core::fuseEulerYaw(yawFusionMethod method) } case yawFusionMethod::GPS: - // both external sensor yaw and last yaw when static are stored in yawAngDataDelayed.yawAng innovYaw = wrap_PI(yawAngPredicted - yawAngDataDelayed.yawAng); break; case yawFusionMethod::STATIC: - // both external sensor yaw and last yaw when static are stored in yawAngDataDelayed.yawAng innovYaw = wrap_PI(yawAngPredicted - yawAngDataStatic.yawAng); break; @@ -1094,7 +1092,6 @@ bool NavEKF3_core::fuseEulerYaw(yawFusionMethod method) break; case yawFusionMethod::EXTNAV: - // both external sensor yaw and last yaw when static are stored in yawAngDataDelayed.yawAng innovYaw = wrap_PI(yawAngPredicted - extNavYawAngDataDelayed.yawAng); break; }