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Increase matrix library usage even more

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kamilritz
2020-06-26 08:26:26 +02:00
committed by Mathieu Bresciani
parent 630be60930
commit 4a69b41015
7 changed files with 10 additions and 41 deletions
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EKF/gps_yaw_fusion.cpp
+1 -5
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@@ -261,11 +261,7 @@ void Ekf::fuseGpsAntYaw()
if (healthy) {
_time_last_gps_yaw_fuse = _time_last_imu;
// apply the covariance corrections
for (unsigned row = 0; row < _k_num_states; row++) {
for (unsigned column = 0; column < _k_num_states; column++) {
P(row,column) = P(row,column) - KHP(row,column);
}
}
P -= KHP;
// correct the covariance matrix for gross errors
fixCovarianceErrors(true);