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Code Issues Releases Activity

LP-490 cosmetic code cleanup

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This commit is contained in:
Eric Price 2017-03-07 12:12:18 +01:00
parent 14d935a6dd
commit e9a0e3ad69
1 changed files with 0 additions and 1 deletions
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flight/modules/StateEstimation/filterekf.c
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@ -380,7 +380,6 @@ static filterResult filter(stateFilter *self, stateEstimation *state)
rotvec[1] *= -this->magLockAlpha;
rotvec[2] *= -this->magLockAlpha;
// 3. rotate artificial magnetometer reading from straight down to correct roll+pitch
// rot_mult(R, (const float[3]) { 0, 0, VectorMagnitude(this->work.mag) }, this->work.mag);
Rv2Rot(rotvec, R);
float MagStrength = VectorMagnitude(this->homeLocation.Be);
local_down[0] *= MagStrength;