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Remove output argument from calcEarthRateNed

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kamilritz
2020-01-08 09:00:31 +01:00
committed by Mathieu Bresciani
parent 9e6d27fafb
commit a21a7cd5b9
3 changed files with 6 additions and 6 deletions
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EKF/ekf_helper.cpp
+4 -4
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@@ -791,11 +791,11 @@ void Ekf::constrainStates()
}
// calculate the earth rotation vector
void Ekf::calcEarthRateNED(Vector3f &omega, float lat_rad) const
Vector3f Ekf::calcEarthRateNED(float lat_rad) const
{
omega(0) = CONSTANTS_EARTH_SPIN_RATE * cosf(lat_rad);
omega(1) = 0.0f;
omega(2) = -CONSTANTS_EARTH_SPIN_RATE * sinf(lat_rad);
return Vector3f{CONSTANTS_EARTH_SPIN_RATE * cosf(lat_rad),
0.0f,
-CONSTANTS_EARTH_SPIN_RATE * sinf(lat_rad)};
}
void Ekf::getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos)