From 5bdfad4bdb3966f166b76030bc2b3da2ff227454 Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Sun, 23 Jun 2013 19:39:00 +0200 Subject: [PATCH] removed redundant check as suggested in review --- flight/modules/StateEstimation/filtercf.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/modules/StateEstimation/filtercf.c b/flight/modules/StateEstimation/filtercf.c index 39579e78c..ae896905a 100644 --- a/flight/modules/StateEstimation/filtercf.c +++ b/flight/modules/StateEstimation/filtercf.c @@ -277,7 +277,7 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel // wait 4 seconds for the user to get his hands off in case the board was just powered this->timeval = PIOS_DELAY_GetRaw(); return 1; - } else if (this->init == 0 && PIOS_DELAY_DiffuS(this->starttime) < 10000000 && PIOS_DELAY_DiffuS(this->starttime) >= 4000000) { + } else if (this->init == 0 && PIOS_DELAY_DiffuS(this->starttime) < 10000000) { // For first 7 seconds use accels to get gyro bias this->attitudeSettings.AccelKp = 1.0f; this->attitudeSettings.AccelKi = 0.0f;