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Random cleanup

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kamilritz
2020-07-02 15:55:24 +02:00
committed by Mathieu Bresciani
parent 9eea44f4ab
commit fce4958d4f
3 changed files with 53 additions and 59 deletions
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EKF/ekf.cpp
+1 -8
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@@ -408,14 +408,7 @@ void Ekf::calculateOutputStates()
const Quatf q_error( (_state.quat_nominal.inversed() * _output_sample_delayed.quat_nominal).normalized() );
// convert the quaternion delta to a delta angle
float scalar;
if (q_error(0) >= 0.0f) {
scalar = -2.0f;
} else {
scalar = 2.0f;
}
const float scalar = (q_error(0) >= 0.0f) ? -2.f : 2.f;
const Vector3f delta_ang_error{scalar * q_error(1), scalar * q_error(2), scalar * q_error(3)};