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Use ternary operator

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This commit is contained in:
kamilritz
2020-07-02 15:55:24 +02:00
committed by Mathieu Bresciani
parent 122f58b94d
commit d18ddb3e92
1 changed files with 2 additions and 16 deletions
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EKF/drag_fusion.cpp
+2 -16
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@@ -146,14 +146,7 @@ void Ekf::fuseDrag()
Kfusion(23) = -SK_ACC[0]*(Kacc*P(23,4)*SH_ACC[0] - Kacc*P(23,22)*SH_ACC[0] + Kacc*P(23,0)*SK_ACC[3] - Kacc*P(23,2)*SK_ACC[2] + Kacc*P(23,3)*SK_ACC[1] + Kacc*P(23,1)*SK_ACC[4] + Kacc*P(23,5)*SK_ACC[6] - Kacc*P(23,6)*SK_ACC[5] - Kacc*P(23,23)*SK_ACC[6]);
// calculate the predicted acceleration and innovation measured along the X body axis
float drag_sign;
if (rel_wind_body(axis_index) >= 0.0f) {
drag_sign = 1.0f;
} else {
drag_sign = -1.0f;
}
const float drag_sign = (rel_wind_body(axis_index) >= 0.f) ? 1.f : -1.f;
const float predAccel = -BC_inv_x * 0.5f * rho * sq(rel_wind_body(axis_index)) * drag_sign;
_drag_innov[axis_index] = predAccel - mea_acc;
@@ -221,14 +214,7 @@ void Ekf::fuseDrag()
Kfusion(23) = -SK_ACC[0]*(Kacc*P(23,0)*SK_ACC[3] + Kacc*P(23,1)*SK_ACC[2] - Kacc*P(23,3)*SK_ACC[1] + Kacc*P(23,2)*SK_ACC[4] - Kacc*P(23,4)*SK_ACC[5] + Kacc*P(23,5)*SK_ACC[8] + Kacc*P(23,6)*SK_ACC[7] + 2*Kacc*P(23,22)*SK_ACC[6] - Kacc*P(23,23)*SK_ACC[8]);
// calculate the predicted acceleration and innovation measured along the Y body axis
float drag_sign;
if (rel_wind_body(axis_index) >= 0.0f) {
drag_sign = 1.0f;
} else {
drag_sign = -1.0f;
}
const float drag_sign = (rel_wind_body(axis_index) >= 0.f) ? 1.f : -1.f;
const float predAccel = -BC_inv_y * 0.5f * rho * sq(rel_wind_body(axis_index)) * drag_sign;
_drag_innov[axis_index] = predAccel - mea_acc;