fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 07:11:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF RingBuffer avoid copying

Browse Source
This commit is contained in:
Daniel Agar
2017-11-15 18:08:51 -05:00
parent 44eaa076db
commit ed9a394029
6 changed files with 111 additions and 204 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/terrain_estimator.cpp
+1 -1
View File
@@ -45,7 +45,7 @@
bool Ekf::initHagl()
{
// get most recent range measurement from buffer
rangeSample latest_measurement = _range_buffer.get_newest();
const rangeSample& latest_measurement = _range_buffer.get_newest();
if ((_time_last_imu - latest_measurement.time_us) < (uint64_t)2e5 && _R_rng_to_earth_2_2 > _params.range_cos_max_tilt) {
// if we have a fresh measurement, use it to initialise the terrain estimator