Remove obsolete vision sample counter during initialization

PX4 · Dec 11, 2019 · 6941777 · 6941777
1 parent 1813034
commit 6941777
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Showing 2 changed files with 0 additions and 21 deletions.
diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
@@ -177,26 +177,6 @@ bool Ekf::initialiseFilter()
 		}
 	}
 
-	// Count the number of external vision measurements received
-	if (_ext_vision_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_ev_sample_delayed)) {
-		if ((_ev_counter == 0) && (_ev_sample_delayed.time_us != 0)) {
-			// initialise the counter
-			_ev_counter = 1;
-
-			// set the height fusion mode to use external vision data when we start getting valid data from the buffer
-			if (_primary_hgt_source == VDIST_SENSOR_EV) {
-				_control_status.flags.baro_hgt = false;
-				_control_status.flags.gps_hgt = false;
-				_control_status.flags.rng_hgt = false;
-				_control_status.flags.ev_hgt = true;
-			}
-
-		} else if ((_ev_counter != 0) && (_ev_sample_delayed.time_us != 0)) {
-			// increment the sample count
-			_ev_counter ++;
-		}
-	}
-
 	// set the default height source from the adjustable parameter
 	if (_hgt_counter == 0) {
 		_primary_hgt_source = _params.vdist_sensor_type;

diff --git a/EKF/ekf.h b/EKF/ekf.h
@@ -466,7 +466,6 @@ class Ekf : public EstimatorInterface
 	uint32_t _hgt_counter{0};		///< number of height samples read during initialisation
 	float _rng_filt_state{0.0f};		///< filtered height measurement (m)
 	uint32_t _mag_counter{0};		///< number of magnetometer samples read during initialisation
-	uint32_t _ev_counter{0};		///< number of external vision samples read during initialisation
 	uint64_t _time_last_mag{0};		///< measurement time of last magnetomter sample (uSec)
 	AlphaFilterVector3f _mag_lpf;		///< filtered magnetometer measurement (Gauss)
 	Vector3f _delVel_sum;			///< summed delta velocity (m/sec)