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AP_AHRS: use Vector3f.xy() to avoid creating a fresh Vector2f

This commit is contained in:
Peter Barker 2022-11-16 10:06:04 +11:00 committed by Andrew Tridgell
parent 70c2775949
commit 141074d07a
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_AHRS/AP_AHRS.cpp
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@ -1257,13 +1257,13 @@ Vector2f AP_AHRS::groundspeed_vector(void)
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: case EKFType::TWO:
EKF2.getVelNED(vec); EKF2.getVelNED(vec);
return Vector2f(vec.x, vec.y); return vec.xy();
#endif #endif
#if HAL_NAVEKF3_AVAILABLE #if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE: case EKFType::THREE:
EKF3.getVelNED(vec); EKF3.getVelNED(vec);
return Vector2f(vec.x, vec.y); return vec.xy();
#endif #endif
#if AP_AHRS_SIM_ENABLED #if AP_AHRS_SIM_ENABLED