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ekf_helper: fuse double if

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bresch
2020-05-08 15:25:21 +02:00
committed by Mathieu Bresciani
parent 0e3bf2872c
commit 75c49b2082
1 changed files with 3 additions and 5 deletions
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EKF/ekf_helper.cpp
+3 -5
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@@ -295,15 +295,13 @@ void Ekf::resetHeight()
P.uncorrelateCovarianceSetVariance<1>(6, 10.0f); P.uncorrelateCovarianceSetVariance<1>(6, 10.0f);
} }
// store the reset amount and time to be published
if (vert_pos_reset) { if (vert_pos_reset) {
// store the reset amount and time to be published
_state_reset_status.posD_change = _state.pos(2) - old_vert_pos; _state_reset_status.posD_change = _state.pos(2) - old_vert_pos;
_state_reset_status.posD_counter++; _state_reset_status.posD_counter++;
}
// apply the change in height / height rate to our newest height / height rate estimate // apply the change in height / height rate to our newest height / height rate estimate
// which have already been taken out from the output buffer // which have already been taken out from the output buffer
if (vert_pos_reset) {
_output_new.pos(2) += _state_reset_status.posD_change; _output_new.pos(2) += _state_reset_status.posD_change;
} }