Copter: remove unused hgt_variance_filt

this filter is populated but never checked when checking variances
ArduPilot · Jan 29, 2025 · 8425bf4 · 8425bf4
1 parent 29655d1
commit 8425bf4
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diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
@@ -962,7 +962,6 @@ Copter::Copter(void)
     flight_modes(&g.flight_mode1),
     pos_variance_filt(FS_EKF_FILT_DEFAULT),
     vel_variance_filt(FS_EKF_FILT_DEFAULT),
-    hgt_variance_filt(FS_EKF_FILT_DEFAULT),
     flightmode(&mode_stabilize),
     simple_cos_yaw(1.0f),
     super_simple_cos_yaw(1.0),

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -335,7 +335,6 @@ class Copter : public AP_Vehicle {
     // thus failsafes should be triggered on filtered values in order to avoid transient errors 
     LowPassFilterFloat pos_variance_filt;
     LowPassFilterFloat vel_variance_filt;
-    LowPassFilterFloat hgt_variance_filt;
     bool variances_valid;
     uint32_t last_ekf_check_us;
 

diff --git a/ArduCopter/ekf_check.cpp b/ArduCopter/ekf_check.cpp
@@ -128,7 +128,6 @@ bool Copter::ekf_over_threshold()
     // always update filtered values as this serves the vibration check as well
     position_var = pos_variance_filt.apply(position_var, dt);
     vel_var = vel_variance_filt.apply(vel_var, dt);
-    height_var = hgt_variance_filt.apply(height_var, dt);
 
     last_ekf_check_us = now_us;
 

diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
@@ -200,7 +200,6 @@ void Copter::init_ardupilot()
 
     pos_variance_filt.set_cutoff_frequency(g2.fs_ekf_filt_hz);
     vel_variance_filt.set_cutoff_frequency(g2.fs_ekf_filt_hz);
-    hgt_variance_filt.set_cutoff_frequency(g2.fs_ekf_filt_hz);
 
     // flag that initialisation has completed
     ap.initialised = true;