fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 21:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: remove unnecessary const references

Browse Source
This commit is contained in:
Daniel Agar
2022-04-29 21:39:02 -04:00
parent 4a6e958100
commit 6fc857772d
7 changed files with 69 additions and 69 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/covariance.cpp
+16 -16
View File
@@ -100,26 +100,26 @@ void Ekf::initialiseCovariance()
void Ekf::predictCovariance()
{
// assign intermediate state variables
const float &q0 = _state.quat_nominal(0);
const float &q1 = _state.quat_nominal(1);
const float &q2 = _state.quat_nominal(2);
const float &q3 = _state.quat_nominal(3);
const float q0 = _state.quat_nominal(0);
const float q1 = _state.quat_nominal(1);
const float q2 = _state.quat_nominal(2);
const float q3 = _state.quat_nominal(3);
const float &dax = _imu_sample_delayed.delta_ang(0);
const float &day = _imu_sample_delayed.delta_ang(1);
const float &daz = _imu_sample_delayed.delta_ang(2);
const float dax = _imu_sample_delayed.delta_ang(0);
const float day = _imu_sample_delayed.delta_ang(1);
const float daz = _imu_sample_delayed.delta_ang(2);
const float &dvx = _imu_sample_delayed.delta_vel(0);
const float &dvy = _imu_sample_delayed.delta_vel(1);
const float &dvz = _imu_sample_delayed.delta_vel(2);
const float dvx = _imu_sample_delayed.delta_vel(0);
const float dvy = _imu_sample_delayed.delta_vel(1);
const float dvz = _imu_sample_delayed.delta_vel(2);
const float &dax_b = _state.delta_ang_bias(0);
const float &day_b = _state.delta_ang_bias(1);
const float &daz_b = _state.delta_ang_bias(2);
const float dax_b = _state.delta_ang_bias(0);
const float day_b = _state.delta_ang_bias(1);
const float daz_b = _state.delta_ang_bias(2);
const float &dvx_b = _state.delta_vel_bias(0);
const float &dvy_b = _state.delta_vel_bias(1);
const float &dvz_b = _state.delta_vel_bias(2);
const float dvx_b = _state.delta_vel_bias(0);
const float dvy_b = _state.delta_vel_bias(1);
const float dvz_b = _state.delta_vel_bias(2);
// Use average update interval to reduce accumulated covariance prediction errors due to small single frame dt values
const float dt = _dt_ekf_avg;