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EKF: Use const reference instead of local copy

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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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18
EKF/drag_fusion.cpp
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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);
// get latest estimated orientation
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);
// get latest velocity in earth frame
const float vn = _state.vel(0);
const float ve = _state.vel(1);
const float vd = _state.vel(2);
const float &vn = _state.vel(0);
const float &ve = _state.vel(1);
const float &vd = _state.vel(2);
// get latest wind velocity in earth frame
const float vwn = _state.wind_vel(0);
const float vwe = _state.wind_vel(1);
const float &vwn = _state.wind_vel(0);
const float &vwe = _state.wind_vel(1);
// predicted specific forces
// calculate relative wind velocity in earth frame and rotate into body frame