From 38fde07865f57d558d3e11d77d13cd2523960164 Mon Sep 17 00:00:00 2001
From: Tim Sweet <timothyswt@gmail.com>
Date: Fri, 15 Jun 2018 12:58:59 -0700
Subject: [PATCH] cleanup reabse

---
 src/filter/kalman.c | 3 ---
 src/filter/kalman.h | 1 -
 2 files changed, 4 deletions(-)

diff --git a/src/filter/kalman.c b/src/filter/kalman.c
index 82b8af65..f71f48b8 100644
--- a/src/filter/kalman.c
+++ b/src/filter/kalman.c
@@ -23,8 +23,6 @@ void init_kalman(kalman_t *filter, float q)
     filter->x = 0.0f;         //set intial value, can be zero if unknown
     filter->lastX = 0.0f;     //set intial value, can be zero if unknown
     filter->e = 1.0f;
-    filter->vel = 0.0f;       //set intial value, can be zero if unknown
-    filter->lastVel = 0.0f;   //set intial value, can be zero if unknown
     filter->acc = 0.0f;       //set intial value, can be zero if unknown
 }
 
@@ -102,7 +100,6 @@ inline float kalman_process(kalman_t* kalmanState, volatile float input, volatil
 
     //update last state
     kalmanState->lastX = kalmanState->x;
-    kalmanState->lastVel = kalmanState->vel;
 
     if (target != 0.0f) {
         kalmanState->e = ABS(1.0f - (target/kalmanState->lastX));
diff --git a/src/filter/kalman.h b/src/filter/kalman.h
index 0e2a28e8..03024951 100644
--- a/src/filter/kalman.h
+++ b/src/filter/kalman.h
@@ -20,7 +20,6 @@ typedef struct kalman
     float acc;   //acceleration
     float lastX; //previous state
     float e;
-    float lastVel; //previous velocity
     float processCount; //keeps track of the process covariance
 } kalman_t;