From 0e74f3ea9d9552116317e8e1704249b412877a44 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sat, 15 Aug 2020 08:43:46 +1000 Subject: [PATCH] EKF: optflow fusion cleanup Co-authored-by: kritz --- EKF/optflow_fusion.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/EKF/optflow_fusion.cpp b/EKF/optflow_fusion.cpp index 9205b19a0d..7a2e8a5b62 100644 --- a/EKF/optflow_fusion.cpp +++ b/EKF/optflow_fusion.cpp @@ -116,8 +116,7 @@ void Ekf::fuseOptFlow() // The derivation allows for an arbitrary body to flow sensor frame rotation which is // currently not supported by the EKF, so assume sensor frame is aligned with the // body frame - Dcmf Tbs; - Tbs.identity(); + const Dcmf Tbs = matrix::eye(); // Sub Expressions const float HK0 = -Tbs(1,0)*q2 + Tbs(1,1)*q1 + Tbs(1,2)*q0;