Line data    Source code

       1             : /*
       2             :   NavEKF_core_common holds scratch data shared by EKF2 and EKF3
       3             : 
       4             :   This program is free software: you can redistribute it and/or modify
       5             :   it under the terms of the GNU General Public License as published by
       6             :   the Free Software Foundation, either version 3 of the License, or
       7             :   (at your option) any later version.
       8             : 
       9             :   This program is distributed in the hope that it will be useful,
      10             :   but WITHOUT ANY WARRANTY; without even the implied warranty of
      11             :   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      12             :   GNU General Public License for more details.
      13             : 
      14             :   You should have received a copy of the GNU General Public License
      15             :   along with this program.  If not, see <http://www.gnu.org/licenses/>.
      16             :  */
      17             : #include "AP_NavEKF_core_common.h"
      18             : 
      19             : NavEKF_core_common::Matrix24 NavEKF_core_common::KHP;
      20             : NavEKF_core_common::Vector28 NavEKF_core_common::Kfusion;
      21             : 
      22             : /*
      23             :   fill common scratch variables, for detecting re-use of variables between loops in SITL
      24             :  */
      25    82531734 : void NavEKF_core_common::fill_scratch_variables(void)
      26             : {
      27             : #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
      28             :     // fill the common variables with NaN, so we catch any cases in
      29             :     // SITL where they are used without initialisation. These are all
      30             :     // supposed to be scratch variables that are not used between
      31             :     // iterations
      32    82531734 :     fill_nanf(&KHP[0][0], sizeof(KHP)/sizeof(ftype));
      33    82531734 :     fill_nanf(&Kfusion[0], sizeof(Kfusion)/sizeof(ftype));
      34             : #endif
      35    82531734 : }