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EKF: Remove implicit conversion and use single precision trig operator

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Double precision accuracy is not required for this operation.
This commit is contained in:
Paul Riseborough
2018-09-03 09:25:19 +10:00
committed by Paul Riseborough
parent 6847acb72e
commit eb52f7c410
1 changed files with 2 additions and 2 deletions
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EKF/gps_yaw_fusion.cpp
+2 -2
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@@ -76,8 +76,8 @@ void Ekf::fuseGpsAntYaw()
predicted_hdg = atan2f(ant_vec_ef(1),ant_vec_ef(0));
// calculate observation jacobian
float t2 = sin(_gps_yaw_offset);
float t3 = cos(_gps_yaw_offset);
float t2 = sinf(_gps_yaw_offset);
float t3 = cosf(_gps_yaw_offset);
float t4 = q0*q3*2.0f;
float t5 = q0*q0;
float t6 = q1*q1;