EKF: remove dead code · b536382ae1 - px4_autopilot - Gitea: Brown's Gitea

Paul Riseborough 8 years ago committed by

Lorenz Meier

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6358bbd257

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b536382ae1

1 changed files with 0 additions and 2 deletions

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EKF/optflow_fusion.cpp

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					@ -397,8 +397,6 @@ void Ekf::fuseOptFlow()
				
								// run innovation consistency check

								// run innovation consistency check

								optflow_test_ratio[1] = sq(_flow_innov[1]) / (sq(math::max(_params.flow_innov_gate, 1.0f)) * _flow_innov_var[1]);
					
								optflow_test_ratio[1] = sq(_flow_innov[1]) / (sq(math::max(_params.flow_innov_gate, 1.0f)) * _flow_innov_var[1]);
				
							} else {
					
								return;
					
							}
					
							}
				
						}
					
						}