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EKF: Use const reference instead of local copy

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This commit is contained in:
Paul Riseborough
2020-08-16 16:49:53 +10:00
committed by Paul Riseborough
parent c43307b8cf
commit 76f393dcb0
1 changed files with 9 additions and 9 deletions
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EKF/drag_fusion.cpp
+9 -9
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@@ -60,19 +60,19 @@ void Ekf::fuseDrag()
const Vector2f ballistic_coef_inv_xy(1.f / _params.bcoef_x, 1.f / _params.bcoef_y); const Vector2f ballistic_coef_inv_xy(1.f / _params.bcoef_x, 1.f / _params.bcoef_y);
// get latest estimated orientation // get latest estimated orientation
const float q0 = _state.quat_nominal(0); const float &q0 = _state.quat_nominal(0);
const float q1 = _state.quat_nominal(1); const float &q1 = _state.quat_nominal(1);
const float q2 = _state.quat_nominal(2); const float &q2 = _state.quat_nominal(2);
const float q3 = _state.quat_nominal(3); const float &q3 = _state.quat_nominal(3);
// get latest velocity in earth frame // get latest velocity in earth frame
const float vn = _state.vel(0); const float &vn = _state.vel(0);
const float ve = _state.vel(1); const float &ve = _state.vel(1);
const float vd = _state.vel(2); const float &vd = _state.vel(2);
// get latest wind velocity in earth frame // get latest wind velocity in earth frame
const float vwn = _state.wind_vel(0); const float &vwn = _state.wind_vel(0);
const float vwe = _state.wind_vel(1); const float &vwe = _state.wind_vel(1);
// predicted specific forces // predicted specific forces
// calculate relative wind velocity in earth frame and rotate into body frame // calculate relative wind velocity in earth frame and rotate into body frame