From 0fa7ef3517aefaa2a54625bcb8c08d870a0e7c1a Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sat, 15 Aug 2020 22:11:21 +1000 Subject: [PATCH] EKF: Use ecl::powf for integer exponents --- EKF/sideslip_fusion.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/EKF/sideslip_fusion.cpp b/EKF/sideslip_fusion.cpp index 24c4ca4b80..e38f9a29e5 100644 --- a/EKF/sideslip_fusion.cpp +++ b/EKF/sideslip_fusion.cpp @@ -83,11 +83,11 @@ void Ekf::fuseSideslip() const float HK5 = q0*q3; const float HK6 = q1*q2; const float HK7 = 2*HK5 + 2*HK6; - const float HK8 = powf(q0, 2); - const float HK9 = powf(q3, 2); + const float HK8 = ecl::powf(q0, 2); + const float HK9 = ecl::powf(q3, 2); const float HK10 = HK8 - HK9; - const float HK11 = powf(q1, 2); - const float HK12 = powf(q2, 2); + const float HK11 = ecl::powf(q1, 2); + const float HK12 = ecl::powf(q2, 2); const float HK13 = HK11 - HK12; const float HK14 = HK10 + HK13; const float HK15 = HK0*HK14 + HK1*HK7 - HK3*HK4; @@ -114,7 +114,7 @@ void Ekf::fuseSideslip() const float HK36 = 2*HK27; const float HK37 = 2*HK21; const float HK38 = HK28*P(0,22) - HK28*P(0,4) + HK32*P(0,23) - HK32*P(0,5) + HK33*P(0,6) + HK34*P(0,2) + HK35*P(0,1) - HK36*P(0,3) + HK37*P(0,0); - const float HK39 = powf(HK15, -2); + const float HK39 = ecl::powf(HK15, -2); const float HK40 = -HK28*P(4,6) + HK28*P(6,22) - HK32*P(5,6) + HK32*P(6,23) + HK33*P(6,6) + HK34*P(2,6) + HK35*P(1,6) - HK36*P(3,6) + HK37*P(0,6); const float HK41 = HK32*P(5,23); const float HK42 = HK28*P(22,23) - HK28*P(4,23) + HK32*P(23,23) + HK33*P(6,23) + HK34*P(2,23) + HK35*P(1,23) - HK36*P(3,23) + HK37*P(0,23) - HK41;