AC_PrecLand: do not fuse EKF velocity

8 years ago · ec73f563ad
1 changed files with 0 additions and 5 deletions
--- a/libraries/AC_PrecLand/AC_PrecLand.cpp
+++ b/libraries/AC_PrecLand/AC_PrecLand.cpp
@ -129,11 +129,6 @@ void AC_PrecLand::update(float rangefinder_alt_cm, bool rangefinder_alt_valid)
				@@ -129,11 +129,6 @@ void AC_PrecLand::update(float rangefinder_alt_cm, bool rangefinder_alt_valid)

            _ekf_x.predict(dt, targetDelVel.x, 0.5f*dt);
            _ekf_y.predict(dt, targetDelVel.y, 0.5f*dt);
-
-            if (_inav.get_filter_status().flags.horiz_pos_rel) {
-                _ekf_x.fuseVel(-vehicleVelocityNED.x, sq(1.0f));
-                _ekf_y.fuseVel(-vehicleVelocityNED.y, sq(1.0f));
-            }
        }

        if (_backend->have_los_meas() && _backend->los_meas_time_ms() != _last_backend_los_meas_ms) {