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AP_NavEKF2: Apply optimisations to airspeed fusion covariance update

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These are the same optimisations that were successful with the magnetometer fusion
This commit is contained in:
Paul Riseborough 2015-10-20 13:05:46 +11:00 committed by Andrew Tridgell
parent a29147d6d2
commit 5e4bc4e954
1 changed files with 16 additions and 16 deletions
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32
libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp
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@ -149,33 +149,33 @@ void NavEKF2_core::FuseAirspeed()
// correct the covariance P = (I - K*H)*P // correct the covariance P = (I - K*H)*P
// take advantage of the empty columns in KH to reduce the // take advantage of the empty columns in KH to reduce the
// number of operations // number of operations
for (uint8_t i = 0; i<=stateIndexLim; i++) { for (unsigned i = 0; i<=stateIndexLim; i++) {
for (uint8_t j = 0; j<=2; j++) { for (unsigned j = 0; j<=2; j++) {
KH[i][j] = 0.0f; KH[i][j] = 0.0f;
} }
for (uint8_t j = 3; j<=5; j++) { for (unsigned j = 3; j<=5; j++) {
KH[i][j] = Kfusion[i] * H_TAS[j]; KH[i][j] = Kfusion[i] * H_TAS[j];
} }
for (uint8_t j = 6; j<=21; j++) { for (unsigned j = 6; j<=21; j++) {
KH[i][j] = 0.0f; KH[i][j] = 0.0f;
} }
for (uint8_t j = 22; j<=23; j++) { for (unsigned j = 22; j<=23; j++) {
KH[i][j] = Kfusion[i] * H_TAS[j]; KH[i][j] = Kfusion[i] * H_TAS[j];
} }
} }
for (uint8_t i = 0; i<=stateIndexLim; i++) { for (unsigned j = 0; j<=stateIndexLim; j++) {
for (uint8_t j = 0; j<=stateIndexLim; j++) { for (unsigned i = 0; i<=stateIndexLim; i++) {
KHP[i][j] = 0; ftype res = 0;
for (uint8_t k = 3; k<=5; k++) { res += KH[i][3] * P[3][j];
KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j]; res += KH[i][4] * P[4][j];
} res += KH[i][5] * P[5][j];
for (uint8_t k = 22; k<=23; k++) { res += KH[i][22] * P[22][j];
KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j]; res += KH[i][23] * P[23][j];
KHP[i][j] = res;
} }
} }
} for (unsigned i = 0; i<=stateIndexLim; i++) {
for (uint8_t i = 0; i<=stateIndexLim; i++) { for (unsigned j = 0; j<=stateIndexLim; j++) {
for (uint8_t j = 0; j<=stateIndexLim; j++) {
P[i][j] = P[i][j] - KHP[i][j]; P[i][j] = P[i][j] - KHP[i][j];
} }
} }