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AP_NavEKF3: for loops use uint8_t instead of unsigned

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This commit is contained in:
Randy Mackay 2021-08-16 21:14:44 +09:00
parent 5779ebd177
commit 914a8dca49
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
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@ -675,16 +675,16 @@ void NavEKF3_core::FuseOptFlow(const of_elements &ofDataDelayed)
// correct the covariance P = (I - K*H)*P
// take advantage of the empty columns in KH to reduce the
// number of operations
for (unsigned i = 0; i<=stateIndexLim; i++) {
for (unsigned j = 0; j<=6; j++) {
for (uint8_t i = 0; i<=stateIndexLim; i++) {
for (uint8_t j = 0; j<=6; j++) {
KH[i][j] = Kfusion[i] * H_LOS[j];
}
for (unsigned j = 7; j<=stateIndexLim; j++) {
for (uint8_t j = 7; j<=stateIndexLim; j++) {
KH[i][j] = 0.0f;
}
}
for (unsigned j = 0; j<=stateIndexLim; j++) {
for (unsigned i = 0; i<=stateIndexLim; i++) {
for (uint8_t j = 0; j<=stateIndexLim; j++) {
for (uint8_t i = 0; i<=stateIndexLim; i++) {
ftype res = 0;
res += KH[i][0] * P[0][j];
res += KH[i][1] * P[1][j];