mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF: Update optical flow fusion maths to reduce height errors
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@ -48,6 +48,7 @@ public:
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#if defined(MATH_CHECK_INDEXES) && (MATH_CHECK_INDEXES == 1)
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typedef VectorN<ftype,2> Vector2;
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typedef VectorN<ftype,3> Vector3;
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typedef VectorN<ftype,4> Vector4;
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typedef VectorN<ftype,5> Vector5;
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typedef VectorN<ftype,6> Vector6;
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typedef VectorN<ftype,8> Vector8;
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@ -67,6 +68,7 @@ public:
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#else
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typedef ftype Vector2[2];
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typedef ftype Vector3[3];
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typedef ftype Vector4[4];
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typedef ftype Vector5[5];
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typedef ftype Vector6[6];
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typedef ftype Vector8[8];
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@ -700,8 +702,8 @@ private:
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// to level computational load as this can be an expensive operation
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struct {
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uint8_t obsIndex;
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Vector5 SH_LOS;
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Vector9 SK_LOS;
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Vector4 SH_LOS;
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Vector10 SK_LOS;
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ftype q0;
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ftype q1;
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ftype q2;
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