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ekf2: auto-generate state vector size constant

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bresch
2023-09-19 09:37:50 -04:00
committed by Daniel Agar
parent 8a9a303354
commit dac337efc4
8 changed files with 20 additions and 18 deletions
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src/modules/ekf2/EKF/yaw_fusion.cpp
+1 -1
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@@ -78,7 +78,7 @@ bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status, const Vector24f &H_Y
Vector24f Kfusion;
const float heading_innov_var_inv = 1.f / aid_src_status.innovation_variance;
for (uint8_t row = 0; row < _k_num_states; row++) {
for (uint8_t row = 0; row < State::size; row++) {
for (uint8_t col = 0; col <= 3; col++) {
Kfusion(row) += P(row, col) * H_YAW(col);
}