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AP_NavEKF3: preserve compiler output in AirDataFusion

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Introducing a const reference makes insignificant assembly-level
changes. Use the original form to prevent this as it is obvious no
mutation is happening here. A future PR will revert this change.
This commit is contained in:
Thomas Watson
2026-09-22 11:56:43 +10:00
committed by Andrew Tridgell
parent fb434ea510
commit 4afff5d729
1 changed files with 9 additions and 9 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
+9 -9
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@@ -608,15 +608,15 @@ void NavEKF3_core::FuseDragForces()
// to save computation, and do the inner indexing more efficiently.
for (unsigned j = 0; j<=stateIndexLim; j++) {
ftype res = 0;
res += (Kfusion[i] * Hfusion[0]) * P[0][j];
res += (Kfusion[i] * Hfusion[1]) * P[1][j];
res += (Kfusion[i] * Hfusion[2]) * P[2][j];
res += (Kfusion[i] * Hfusion[3]) * P[3][j];
res += (Kfusion[i] * Hfusion[4]) * P[4][j];
res += (Kfusion[i] * Hfusion[5]) * P[5][j];
res += (Kfusion[i] * Hfusion[6]) * P[6][j];
res += (Kfusion[i] * Hfusion[22]) * P[22][j];
res += (Kfusion[i] * Hfusion[23]) * P[23][j];
res += (Kfusion[i] * Hfusion[0]) * Pmut[0][j];
res += (Kfusion[i] * Hfusion[1]) * Pmut[1][j];
res += (Kfusion[i] * Hfusion[2]) * Pmut[2][j];
res += (Kfusion[i] * Hfusion[3]) * Pmut[3][j];
res += (Kfusion[i] * Hfusion[4]) * Pmut[4][j];
res += (Kfusion[i] * Hfusion[5]) * Pmut[5][j];
res += (Kfusion[i] * Hfusion[6]) * Pmut[6][j];
res += (Kfusion[i] * Hfusion[22]) * Pmut[22][j];
res += (Kfusion[i] * Hfusion[23]) * Pmut[23][j];
KHP[i][j] = res;
}
}