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AP_NavEKF3: initialise variables as part of declaration

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Peter Barker 2024-10-11 16:45:19 +11:00 committed by Andrew Tridgell
parent ba9b123e30
commit d8b109683a
1 changed files with 15 additions and 30 deletions
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45
libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
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@ -20,25 +20,19 @@
void NavEKF3_core::FuseAirspeed() void NavEKF3_core::FuseAirspeed()
{ {
// declarations // declarations
ftype vn;
ftype ve;
ftype vd;
ftype vwn;
ftype vwe;
ftype SH_TAS[3]; ftype SH_TAS[3];
ftype SK_TAS[2]; ftype SK_TAS[2];
Vector24 H_TAS = {}; Vector24 H_TAS = {};
ftype VtasPred;
// copy required states to local variable names // copy required states to local variable names
vn = stateStruct.velocity.x; const ftype vn = stateStruct.velocity.x;
ve = stateStruct.velocity.y; const ftype ve = stateStruct.velocity.y;
vd = stateStruct.velocity.z; const ftype vd = stateStruct.velocity.z;
vwn = stateStruct.wind_vel.x; const ftype vwn = stateStruct.wind_vel.x;
vwe = stateStruct.wind_vel.y; const ftype vwe = stateStruct.wind_vel.y;
// calculate the predicted airspeed // calculate the predicted airspeed
VtasPred = norm((ve - vwe) , (vn - vwn) , vd); const ftype VtasPred = norm((ve - vwe) , (vn - vwn) , vd);
// perform fusion of True Airspeed measurement // perform fusion of True Airspeed measurement
if (VtasPred > 1.0f) if (VtasPred > 1.0f)
{ {
@ -280,15 +274,6 @@ void NavEKF3_core::SelectBetaDragFusion()
void NavEKF3_core::FuseSideslip() void NavEKF3_core::FuseSideslip()
{ {
// declarations // declarations
ftype q0;
ftype q1;
ftype q2;
ftype q3;
ftype vn;
ftype ve;
ftype vd;
ftype vwn;
ftype vwe;
const ftype R_BETA = 0.03f; // assume a sideslip angle RMS of ~10 deg const ftype R_BETA = 0.03f; // assume a sideslip angle RMS of ~10 deg
Vector13 SH_BETA; Vector13 SH_BETA;
Vector8 SK_BETA; Vector8 SK_BETA;
@ -296,15 +281,15 @@ void NavEKF3_core::FuseSideslip()
Vector24 H_BETA; Vector24 H_BETA;
// copy required states to local variable names // copy required states to local variable names
q0 = stateStruct.quat[0]; const ftype q0 = stateStruct.quat[0];
q1 = stateStruct.quat[1]; const ftype q1 = stateStruct.quat[1];
q2 = stateStruct.quat[2]; const ftype q2 = stateStruct.quat[2];
q3 = stateStruct.quat[3]; const ftype q3 = stateStruct.quat[3];
vn = stateStruct.velocity.x; const ftype vn = stateStruct.velocity.x;
ve = stateStruct.velocity.y; const ftype ve = stateStruct.velocity.y;
vd = stateStruct.velocity.z; const ftype vd = stateStruct.velocity.z;
vwn = stateStruct.wind_vel.x; const ftype vwn = stateStruct.wind_vel.x;
vwe = stateStruct.wind_vel.y; const ftype vwe = stateStruct.wind_vel.y;
// calculate predicted wind relative velocity in NED // calculate predicted wind relative velocity in NED
vel_rel_wind.x = vn - vwn; vel_rel_wind.x = vn - vwn;