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AP_NAvEKF3: Use a const reference

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Paul Riseborough 2020-10-24 20:28:29 +11:00 committed by Andrew Tridgell
parent 64a3d8fe4e
commit 43386a8eea
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -1085,7 +1085,7 @@ void NavEKF3_core::CovariancePrediction(Vector3f *rotVarVecPtr)
// vector defining the variance of the angular alignment uncertainty. Convert he varaince vector // vector defining the variance of the angular alignment uncertainty. Convert he varaince vector
// to a matrix and rotate into body frame. Use the exisiting gyro error propagation mechanism to // to a matrix and rotate into body frame. Use the exisiting gyro error propagation mechanism to
// propagate the body frame angular uncertainty variances. // propagate the body frame angular uncertainty variances.
Vector3f rotVarVec = *rotVarVecPtr; const Vector3f &rotVarVec = *rotVarVecPtr;
Matrix3f R_ef = Matrix3f ( Matrix3f R_ef = Matrix3f (
rotVarVec.x, 0.0f, 0.0f, rotVarVec.x, 0.0f, 0.0f,
0.0f, rotVarVec.y, 0.0f, 0.0f, rotVarVec.y, 0.0f,