Fix calculating calibration vector length on every iteration - Githubissues

phoenix-pilot / phoenix-pilot-core

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Fix calculating calibration vector length on every iteration #299

Closed PNieck closed 8 months ago

PNieck commented 8 months ago

Description

Previously during imu measurement normalization length of magnetic vector from calibration was calculated during every iteration. This PR fixes that.

Motivation and Context

Faster EKF iterations

Types of changes

[x] Bug fix (non-breaking change which fixes an issue)
[ ] New feature (non-breaking change which adds functionality)
[ ] Breaking change (fix or feature that would cause existing functionality to change)

How Has This Been Tested?

[ ] Already covered by automatic testing.
[ ] New test added: (add PR link here).
[x] Tested by hand on: (list targets here). host-generic-pilot

Checklist:

[ ] My change requires a change to the documentation.
[ ] I have updated the documentation accordingly.
[ ] I have added tests to cover my changes.
[x] All new and existing linter checks and tests passed.
[x] My changes generate no new compilation warnings for any of the targets.

Special treatment

[ ] This PR needs additional PRs to work (list the PRs, preferably in merge-order).
[ ] I will merge this PR by myself when appropriate.