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ekf2: replace quatToInverseRotMat if only used once

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Daniel Agar
2022-10-20 14:15:32 -04:00
parent fb3adc3faa
commit 5030b21d2e
2 changed files with 3 additions and 5 deletions
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src/modules/ekf2/EKF/drag_fusion.cpp
+1 -2
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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++) {