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ekf2: predict covariance avoid explicit temporary nextP

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Daniel Agar
2023-10-10 20:38:05 -04:00
parent 476b5d5594
commit 9676af2fe6
3 changed files with 769 additions and 811 deletions
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src/modules/ekf2/EKF/python/ekf_derivation/derivation.py
+1 -1
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@@ -612,7 +612,7 @@ def rot_var_ned_to_lower_triangular_quat_cov(
return q_var.lower_triangle()
print("Derive EKF2 equations...")
generate_px4_function(predict_covariance, output_names=["P_new"])
generate_px4_function(predict_covariance, output_names=None)
if not args.disable_mag:
generate_px4_function(compute_mag_declination_pred_innov_var_and_h, output_names=["pred", "innov_var", "H"])
src/modules/ekf2/EKF/python/ekf_derivation/generated/predict_covariance.h
+758 -770
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