From 3e3a66e9e9116273a4b38376eb0c35f8f55a14b9 Mon Sep 17 00:00:00 2001 From: kamilritz Date: Sun, 28 Jun 2020 19:04:45 +0200 Subject: [PATCH] Remove unnecessary operations --- EKF/covariance.cpp | 6 ------ 1 file changed, 6 deletions(-) diff --git a/EKF/covariance.cpp b/EKF/covariance.cpp index f0d1e2c9bc..f3e218e2d0 100644 --- a/EKF/covariance.cpp +++ b/EKF/covariance.cpp @@ -222,7 +222,6 @@ void Ekf::predictCovariance() // Construct the process noise variance diagonal for those states with a stationary process model // These are kinematic states and their error growth is controlled separately by the IMU noise variances - process_noise.slice<10,1>(0,0) = 0.0f; // delta angle bias states process_noise.slice<3,1>(10,0) = sq(d_ang_bias_sig); @@ -423,11 +422,6 @@ void Ekf::predictCovariance() nextP(11,12) = P(11,12); nextP(12,12) = P(12,12); - // add process noise that is not from the IMU - for (unsigned i = 0; i <= 9; i++) { - nextP(i,i) += process_noise(i); - } - // process noise contribution for delta angle states can be very small compared to // the variances, therefore use algorithm to minimise numerical error for (unsigned i = 10; i <=12; i++) {