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ekf2: remove size in name of state vector and matrix types

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Then the state vector size can be changes without having to update the
name
This commit is contained in:
bresch
2023-09-21 08:27:52 -04:00
committed by Daniel Agar
parent 4f1682c3c8
commit ebf962bf68
15 changed files with 50 additions and 50 deletions
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src/modules/ekf2/EKF/gravity_fusion.cpp
+1 -1
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@@ -60,7 +60,7 @@ void Ekf::controlGravityFusion(const imuSample &imu)
// calculate kalman gains and innovation variances
Vector3f innovation; // innovation of the last gravity fusion observation (m/s**2)
Vector3f innovation_variance;
Vector24f Kx, Ky, Kz; // Kalman gain vectors
VectorState Kx, Ky, Kz; // Kalman gain vectors
sym::ComputeGravityInnovVarAndKAndH(
getStateAtFusionHorizonAsVector(), P, measurement, measurement_var, FLT_EPSILON,
&innovation, &innovation_variance, &Kx, &Ky, &Kz);