gyroscope bias estimator removed max operation

googlevr · Apr 18, 2024 · 6a768d7 · 6a768d7
1 parent 672a1b6
commit 6a768d7
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/sdk/sensors/gyroscope_bias_estimator.cc b/sdk/sensors/gyroscope_bias_estimator.cc
@@ -264,8 +264,8 @@ bool GyroscopeBiasEstimator::UpdateGyroscopeBias(
     return false;
   }
 
-  float update_weight = std::max(
-      0.0f, 1.0f - gyroscope_sample_norm2 / kGyroscopeForBiasThreshold);
+  float update_weight =
+      1.0f - gyroscope_sample_norm2 / kGyroscopeForBiasThreshold;
   update_weight *= update_weight;
   gyroscope_bias_lowpass_filter_.AddWeightedSample(
       gyroscope_lowpass_filter_.GetFilteredData(), timestamp_ns, update_weight);