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https://github.com/ArduPilot/ardupilot
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this provides a common location for static intermediate variables in EK2 and EK3. This has a few benefits: - the compiler can determine the address of the frequently accessed variables at compile time, making them faster - by sharing between EK2 and EK3 we save a lot of memory if both EK2 and EK3 are enabled - we can fill all these with NaN in SITL on every loop, which allows us to catch cases where the variables are ever re-used between loops, which guarantees we aren't mixing data between EKF lanes or between EK2 and EK3 |
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| .. | ||
| Models | ||
| AP_Nav_Common.cpp | ||
| AP_Nav_Common.h | ||
| AP_NavEKF_core_common.cpp | ||
| AP_NavEKF_core_common.h | ||