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ekf2: replace quatToInverseRotMat if only used once

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This commit is contained in:
Daniel Agar 2022-10-20 09:41:26 -04:00
parent fb3adc3faa
commit 5030b21d2e
2 changed files with 3 additions and 5 deletions
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3
src/modules/ekf2/EKF/drag_fusion.cpp
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@ -83,8 +83,7 @@ void Ekf::fuseDrag(const dragSample &drag_sample)
// predicted specific forces
// calculate relative wind velocity in earth frame and rotate into body frame
const Vector3f rel_wind_earth(vn - vwn, ve - vwe, vd);
const Dcmf earth_to_body = quatToInverseRotMat(_state.quat_nominal);
const Vector3f rel_wind_body = earth_to_body * rel_wind_earth;
const Vector3f rel_wind_body = _state.quat_nominal.rotateVectorInverse(rel_wind_earth);
// perform sequential fusion of XY specific forces
for (uint8_t axis_index = 0; axis_index < 2; axis_index++) {

5
src/modules/ekf2/EKF/mag_control.cpp
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@ -80,9 +80,8 @@ void Ekf::controlMagFusion()
// compute magnetometer innovations (for estimator_aid_src_mag logging)
// rotate magnetometer earth field state into body frame
const Dcmf R_to_body = quatToInverseRotMat(_state.quat_nominal);
const Vector3f mag_I_rot = R_to_body * _state.mag_I;
const Vector3f mag_innov = mag_I_rot - mag_observation;
const Vector3f mag_I_body = _state.quat_nominal.rotateVectorInverse(_state.mag_I);
const Vector3f mag_innov = mag_I_body - mag_observation;
resetEstimatorAidStatus(_aid_src_mag);
_aid_src_mag.timestamp_sample = mag_sample.time_us;