fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 21:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Use new added matrix functions

Browse Source
This commit is contained in:
Kamil Ritz
2020-08-24 19:24:27 +10:00
committed by Paul Riseborough
parent 1f637af7de
commit 114516b784
3 changed files with 3 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/EKFGSF_yaw.cpp
+1 -3
View File
@@ -534,9 +534,7 @@ Matrix3f EKFGSF_yaw::ahrsPredictRotMat(const Matrix3f &R, const Vector3f &g)
if (rowLengthSq > FLT_EPSILON) {
// Use linear approximation for inverse sqrt taking advantage of the row length being close to 1.0
const float rowLengthInv = 1.5f - 0.5f * rowLengthSq;
ret(r,0) *= rowLengthInv;
ret(r,1) *= rowLengthInv;
ret(r,2) *= rowLengthInv;
ret.row(r) *= rowLengthInv;
}
}