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Add typedef for Matrix 24 types

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kamilritz
2020-07-02 09:02:24 +02:00
committed by Mathieu Bresciani
parent 5356077a32
commit 552bf824ea
9 changed files with 15 additions and 15 deletions
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EKF/mag_fusion.cpp
+3 -3
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@@ -355,7 +355,7 @@ void Ekf::fuseMag()
// apply covariance correction via P_new = (I -K*H)*P
// first calculate expression for KHP
// then calculate P - KHP
matrix::SquareMatrix<float, _k_num_states> KHP {};
SquareMatrix24f KHP;
float KH[10];
for (unsigned row = 0; row < _k_num_states; row++) {
@@ -705,7 +705,7 @@ void Ekf::updateQuaternion(const float innovation, const float variance, const f
// apply covariance correction via P_new = (I -K*H)*P
// first calculate expression for KHP
// then calculate P - KHP
matrix::SquareMatrix<float, _k_num_states> KHP;
SquareMatrix24f KHP;
float KH[4];
for (unsigned row = 0; row < _k_num_states; row++) {
@@ -995,7 +995,7 @@ void Ekf::fuseDeclination(float decl_sigma)
// first calculate expression for KHP
// then calculate P - KHP
// take advantage of the empty columns in KH to reduce the number of operations
matrix::SquareMatrix<float, _k_num_states> KHP;
SquareMatrix24f KHP;
float KH[2];
for (unsigned row = 0; row < _k_num_states; row++) {