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AP_Compass: Calibrator: use inplace initializer on array

This commit is contained in:
Lucas De Marchi 2016-11-18 17:05:36 -02:00
parent b36ee10e7c
commit c6b0a71c47
1 changed files with 6 additions and 12 deletions
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18
libraries/AP_Compass/CompassCalibrator.cpp
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@ -504,13 +504,10 @@ void CompassCalibrator::run_sphere_fit()
param_t fit1_params, fit2_params;
fit1_params = fit2_params = _params;
float JTJ[COMPASS_CAL_NUM_SPHERE_PARAMS*COMPASS_CAL_NUM_SPHERE_PARAMS];
float JTJ2[COMPASS_CAL_NUM_SPHERE_PARAMS*COMPASS_CAL_NUM_SPHERE_PARAMS];
float JTFI[COMPASS_CAL_NUM_SPHERE_PARAMS];
float JTJ[COMPASS_CAL_NUM_SPHERE_PARAMS*COMPASS_CAL_NUM_SPHERE_PARAMS] = { };
float JTJ2[COMPASS_CAL_NUM_SPHERE_PARAMS*COMPASS_CAL_NUM_SPHERE_PARAMS] = { };
float JTFI[COMPASS_CAL_NUM_SPHERE_PARAMS] = { };
memset(JTJ,0,sizeof(JTJ));
memset(JTJ2,0,sizeof(JTJ2));
memset(JTFI,0,sizeof(JTFI));
// Gauss Newton Part common for all kind of extensions including LM
for(uint16_t k = 0; k<_samples_collected; k++) {
Vector3f sample = _sample_buffer[k].get();
@ -620,13 +617,10 @@ void CompassCalibrator::run_ellipsoid_fit()
fit1_params = fit2_params = _params;
float JTJ[COMPASS_CAL_NUM_ELLIPSOID_PARAMS*COMPASS_CAL_NUM_ELLIPSOID_PARAMS];
float JTJ2[COMPASS_CAL_NUM_ELLIPSOID_PARAMS*COMPASS_CAL_NUM_ELLIPSOID_PARAMS];
float JTFI[COMPASS_CAL_NUM_ELLIPSOID_PARAMS];
float JTJ[COMPASS_CAL_NUM_ELLIPSOID_PARAMS*COMPASS_CAL_NUM_ELLIPSOID_PARAMS] = { };
float JTJ2[COMPASS_CAL_NUM_ELLIPSOID_PARAMS*COMPASS_CAL_NUM_ELLIPSOID_PARAMS] = { };
float JTFI[COMPASS_CAL_NUM_ELLIPSOID_PARAMS] = { };
memset(JTJ,0,sizeof(JTJ));
memset(JTJ2,0,sizeof(JTJ2));
memset(JTFI,0,sizeof(JTFI));
// Gauss Newton Part common for all kind of extensions including LM
for(uint16_t k = 0; k<_samples_collected; k++) {
Vector3f sample = _sample_buffer[k].get();