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ekf2: remove ev orientation variance comparison to ev position variance #25703

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ekf2: remove ev orientation variance comparison to ev position variance #25703

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4 changes: 0 additions & 4 deletions src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,10 +67,6 @@ void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSamp
pos = R_ev_to_ekf * ev_sample.pos;
pos_cov = R_ev_to_ekf * matrix::diag(ev_sample.position_var) * R_ev_to_ekf.transpose();

// increase minimum variance to include EV orientation variance
// TODO: do this properly
const float orientation_var_max = math::max(ev_sample.orientation_var(0), ev_sample.orientation_var(1));
pos_cov(2, 2) = math::max(pos_cov(2, 2), orientation_var_max);
}
}

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