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Replace componentwise with matrix operation

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kamilritz
2020-07-16 18:25:06 +02:00
committed by Mathieu Bresciani
parent b5765eb3b4
commit b0ad9f0226
1 changed files with 2 additions and 2 deletions
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EKF/ekf.cpp
+2 -2
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@@ -269,8 +269,8 @@ void Ekf::predictState()
// calculate a filtered horizontal acceleration with a 1 sec time constant
// this are used for manoeuvre detection elsewhere
float alpha = 1.0f - _imu_sample_delayed.delta_vel_dt;
_accel_lpf_NE(0) = _accel_lpf_NE(0) * alpha + corrected_delta_vel_ef(0);
_accel_lpf_NE(1) = _accel_lpf_NE(1) * alpha + corrected_delta_vel_ef(1);
_accel_lpf_NE = _accel_lpf_NE * alpha + corrected_delta_vel_ef.xy();
// save the previous value of velocity so we can use trapzoidal integration
const Vector3f vel_last = _state.vel;