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Copter: remove unused hgt_variance_filt #29168

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merged 1 commit into from
Jan 29, 2025
Merged

Copter: remove unused hgt_variance_filt #29168

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1 change: 0 additions & 1 deletion ArduCopter/Copter.cpp
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Expand Up @@ -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),
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1 change: 0 additions & 1 deletion ArduCopter/Copter.h
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Expand Up @@ -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;

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1 change: 0 additions & 1 deletion ArduCopter/ekf_check.cpp
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Expand Up @@ -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;

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1 change: 0 additions & 1 deletion ArduCopter/system.cpp
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Expand Up @@ -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;
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