From d18ddb3e92b0037cb8de4127122b137f3a5c070f Mon Sep 17 00:00:00 2001 From: kamilritz Date: Sun, 28 Jun 2020 17:25:14 +0200 Subject: [PATCH] Use ternary operator --- EKF/drag_fusion.cpp | 18 ++---------------- 1 file changed, 2 insertions(+), 16 deletions(-) diff --git a/EKF/drag_fusion.cpp b/EKF/drag_fusion.cpp index 2dfb2613ca..410dd7e393 100644 --- a/EKF/drag_fusion.cpp +++ b/EKF/drag_fusion.cpp @@ -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;