From af31bee50e3f6aea8d1edb6b08e9f78341be5ef4 Mon Sep 17 00:00:00 2001
From: Markus Mayer <widemeadows@gmail.com>
Date: Sun, 14 Jul 2024 14:13:47 +0200
Subject: [PATCH] Remove variance functions from simulation

Signed-off-by: Markus Mayer <widemeadows@gmail.com>
---
 examples/simulation.rs  | 9 +++------
 src/gyro_free/filter.rs | 1 -
 2 files changed, 3 insertions(+), 7 deletions(-)

diff --git a/examples/simulation.rs b/examples/simulation.rs
index c1c1ba7..3960a84 100644
--- a/examples/simulation.rs
+++ b/examples/simulation.rs
@@ -619,9 +619,8 @@ fn main() -> Result<(), Box<dyn Error>> {
 
         // Display estimated angles.
         let info = format!(
-            "φ = {:+0.02} ± {:+0.02} rad ({:+0.02}°)",
+            "φ = {:+0.02} ({:+0.02}°)",
             estimated_angles.roll_phi,
-            estimator.roll_variance().sqrt(),
             estimated_angles.roll_phi * 180.0 / std::f32::consts::PI,
         );
         window.draw_text(
@@ -634,9 +633,8 @@ fn main() -> Result<(), Box<dyn Error>> {
 
         // Display estimated angles.
         let info = format!(
-            "θ = {:+0.02} ± {:+0.02} rad ({:+0.02}°)",
+            "θ = {:+0.02} ({:+0.02}°)",
             estimated_angles.pitch_theta,
-            estimator.pitch_variance().sqrt(),
             estimated_angles.pitch_theta * 180.0 / std::f32::consts::PI,
         );
         window.draw_text(
@@ -649,9 +647,8 @@ fn main() -> Result<(), Box<dyn Error>> {
 
         // Display estimated angles.
         let info = format!(
-            "ψ = {:+0.02} ± {:+0.02} rad ({:+0.02}°)",
+            "ψ = {:+0.02} ({:+0.02}°)",
             estimated_angles.yaw_psi,
-            estimator.yaw_variance().sqrt(),
             estimated_angles.yaw_psi * 180.0 / std::f32::consts::PI,
         );
         window.draw_text(
diff --git a/src/gyro_free/filter.rs b/src/gyro_free/filter.rs
index 55b8f99..34dc85f 100644
--- a/src/gyro_free/filter.rs
+++ b/src/gyro_free/filter.rs
@@ -9,7 +9,6 @@ use minikalman::buffers::types::*;
 use minikalman::extended::{ExtendedKalmanBuilder, ExtendedObservationBuilder};
 use minikalman::matrix::MatrixDataType;
 use minikalman::prelude::*;
-use num_traits::Zero;
 
 /// A magnetic field reference vector.
 pub type MagneticReference<T> = MagnetometerReading<T>;