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removed non ASCII characters in comment line

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Corvus Corax 2013-05-16 23:21:32 +02:00
parent 92d73e0e73
commit 667f46ceb1
1 changed files with 3 additions and 3 deletions
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6
flight/libraries/insgps13state.c
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@ -427,7 +427,7 @@ void CovariancePrediction(float F[NUMX][NUMX], float G[NUMX][NUMW],
float Q[NUMW], float dT, float P[NUMX][NUMX]) float Q[NUMW], float dT, float P[NUMX][NUMX])
{ {
// Pnew = (I+F*T)*P*(I+F*T)' + T²*G*Q*G' = T²[(P/T + F*P)*(I/T + F') + G*Q*G')] // Pnew = (I+F*T)*P*(I+F*T)' + (T^2)*G*Q*G' = (T^2)[(P/T + F*P)*(I/T + F') + G*Q*G')]
float dT1 = 1.0f / dT; // multiplication is faster than division on fpu. float dT1 = 1.0f / dT; // multiplication is faster than division on fpu.
float dTsq = dT * dT; float dTsq = dT * dT;
@ -451,7 +451,7 @@ void CovariancePrediction(float F[NUMX][NUMX], float G[NUMX][NUMW],
} }
} }
} }
for (i = 0; i < NUMX; i++) { // Calculate Pnew = T² [Dummy/T + Dummy*F' + G*Qw*G'] for (i = 0; i < NUMX; i++) { // Calculate Pnew = (T^2) [Dummy/T + Dummy*F' + G*Qw*G']
float *Dirow = Dummy[i]; float *Dirow = Dummy[i];
float *Girow = G[i]; float *Girow = G[i];
@ -483,7 +483,7 @@ void CovariancePrediction(float F[NUMX][NUMX], float G[NUMX][NUMW],
} }
} }
P[j][i] = Pirow[j] = Ptmp * dTsq; // [] * T² P[j][i] = Pirow[j] = Ptmp * dTsq; // [] * (T^2)
} }
} }
} }