Removed faulty gate logic in predict
@@ -888,12 +888,7 @@ void survive_kalman_error_tracker_predict_jac(FLT dt, const struct cnkalman_stat
SurviveKalmanModel s_out = {0};
struct SurviveKalmanTracker_Params *params = (struct SurviveKalmanTracker_Params *)k->user;
- if(params->process_weight_acc == 0) {
- scale3d(s_in.Acc, s_in.Acc, 0);
- }
- if(params->process_weight_vel == 0) {
- scalend(s_in.Velocity.Pos, s_in.Velocity.Pos, 0, 6);
- }
+
quatnormalize(s_in.Pose.Rot, s_in.Pose.Rot);
gen_SurviveKalmanModelPredict(&s_out, dt, &s_in);
quatnormalize(s_out.Pose.Rot, s_out.Pose.Rot);
