fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 00:03:34 +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/mag_fusion.cpp
+13 -13
View File
@@ -48,14 +48,14 @@
void Ekf::fuseMag(const Vector3f &mag)
{
// assign intermediate 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 &magN = _state.mag_I(0);
const float &magE = _state.mag_I(1);
const float &magD = _state.mag_I(2);
const float magN = _state.mag_I(0);
const float magE = _state.mag_I(1);
const float magD = _state.mag_I(2);
// XYZ Measurement uncertainty. Need to consider timing errors for fast rotations
const float R_MAG = sq(fmaxf(_params.mag_noise, 0.0f));
@@ -424,10 +424,10 @@ void Ekf::fuseMag(const Vector3f &mag)
bool Ekf::fuseYaw321(float yaw, float yaw_variance, bool zero_innovation)
{
// 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 R_YAW = fmaxf(yaw_variance, 1.0e-4f);
const float measurement = wrap_pi(yaw);
@@ -779,8 +779,8 @@ void Ekf::fuseHeading(float measured_hdg, float obs_var)
void Ekf::fuseDeclination(float decl_sigma)
{
// assign intermediate state variables
const float &magN = _state.mag_I(0);
const float &magE = _state.mag_I(1);
const float magN = _state.mag_I(0);
const float magE = _state.mag_I(1);
// minimum North field strength before calculation becomes badly conditioned (T)
constexpr float N_field_min = 0.001f;