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AP_Airspeed: use pythagorous3()

This commit is contained in:
Andrew Tridgell 2014-04-01 22:15:12 +11:00
parent a7f213a5c5
commit b8e4e35a0d
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Airspeed/Airspeed_Calibration.cpp
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@ -54,7 +54,7 @@ float Airspeed_Calibration::update(float airspeed, const Vector3f &vg)
// No state prediction required because states are assumed to be time
// invariant plus process noise
// Ignore vertical wind component
float TAS_pred = state.z * sqrtf(sq(vg.x - state.x) + sq(vg.y - state.y) + sq(vg.z));
float TAS_pred = state.z * pythagorous3(vg.x - state.x, vg.y - state.y, vg.z);
float TAS_mea = airspeed;
// Calculate the observation Jacobian H_TAS