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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 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/mag_control.cpp
+2 -3
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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;