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Improve on flash memory usage

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kamilritz
2020-01-02 19:26:57 +11:00
committed by Paul Riseborough
parent 459b76f9fd
commit 92ba618f57
13 changed files with 75 additions and 68 deletions
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EKF/optflow_fusion.cpp
+1 -1
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@@ -442,7 +442,7 @@ void Ekf::fuseOptFlow()
// apply covariance correction via P_new = (I -K*H)*P
// first calculate expression for KHP
// then calculate P - KHP
matrix::SquareMatrix<float, _k_num_states> KHP {};
matrix::SquareMatrix<float, _k_num_states> KHP;
float KH[7];
for (unsigned row = 0; row < _k_num_states; row++) {