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AP_NavEKF: remove unnecessary memcopy

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Paul Riseborough 2020-04-25 10:25:29 +10:00 committed by Peter Barker
parent 4a743a3827
commit 709a42cb7f
2 changed files with 3 additions and 3 deletions
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2
libraries/AP_NavEKF/EKFGSF_yaw.cpp
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@ -134,7 +134,7 @@ void EKFGSF_yaw::update(const Vector3f &delAng,
}
}
void EKFGSF_yaw::fuseVelData(Vector2f vel, float velAcc)
void EKFGSF_yaw::fuseVelData(const Vector2f &vel, const float velAcc)
{
// convert reported accuracy to a variance, but limit lower value to protect algorithm stability
const float velObsVar = sq(fmaxf(velAcc, 0.5f));

4
libraries/AP_NavEKF/EKFGSF_yaw.h
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@ -24,8 +24,8 @@ public:
// Fuse NE velocty mesurements and update the EKF's and GSF state and covariance estimates
// Should be called after update(...) whenever new velocity data is available
void fuseVelData(Vector2f vel, // NE velocity measurement (m/s)
float velAcc); // 1-sigma accuracy of velocity measurement (m/s)
void fuseVelData(const Vector2f &vel, // NE velocity measurement (m/s)
const float velAcc); // 1-sigma accuracy of velocity measurement (m/s)
// get solution data for logging
// return false if yaw estimation is inactive