AP_NavEKF3: tidy population of fusion reports

simply take a refefence and use it
ArduPilot · Feb 26, 2024 · e9d065c · e9d065c
1 parent df3267c
commit e9d065c
Showing 1 changed file with 12 additions and 10 deletions.
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
@@ -268,11 +268,12 @@ void NavEKF3_core::FuseRngBcn()
 
         // Update the fusion report
         if (rngBcn.fusionReport && rngBcn.dataDelayed.beacon_ID < dal.beacon()->count()) {
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].beaconPosNED = rngBcn.dataDelayed.beacon_posNED;
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].innov = rngBcn.innov;
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].innovVar = rngBcn.varInnov;
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].rng = rngBcn.dataDelayed.rng;
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].testRatio = rngBcn.testRatio;
+            auto &report = rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID];
+            report.beaconPosNED = rngBcn.dataDelayed.beacon_posNED;
+            report.innov = rngBcn.innov;
+            report.innovVar = rngBcn.varInnov;
+            report.rng = rngBcn.dataDelayed.rng;
+            report.testRatio = rngBcn.testRatio;
         }
     }
 }
@@ -506,11 +507,12 @@ void NavEKF3_core::FuseRngBcnStatic()
         }
         // Update the fusion report
         if (rngBcn.fusionReport && rngBcn.dataDelayed.beacon_ID < dal.beacon()->count()) {
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].beaconPosNED = rngBcn.dataDelayed.beacon_posNED;
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].innov = rngBcn.innov;
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].innovVar = rngBcn.varInnov;
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].rng = rngBcn.dataDelayed.rng;
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].testRatio = rngBcn.testRatio;
+            auto &report = rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID];
+            report.beaconPosNED = rngBcn.dataDelayed.beacon_posNED;
+            report.innov = rngBcn.innov;
+            report.innovVar = rngBcn.varInnov;
+            report.rng = rngBcn.dataDelayed.rng;
+            report.testRatio = rngBcn.testRatio;
         }
     }
 }