minor modification

Author: franckgaga

src/controller/execute.jl

@@ -173,16 +173,16 @@ function initpred!(mpc::PredictiveController, model::LinModel, d, ym, D̂, R̂y,
         mul!(F, mpc.J, mpc.D̂0, 1, 1)
     end
     mpc.R̂y .= R̂y
-    C_y = F .- mpc.R̂y
+    Cy = F .- mpc.R̂y
     M_Hp_Ẽ = mpc.M_Hp*mpc.Ẽ
-    mul!(q̃, M_Hp_Ẽ', C_y)
-    p .= dot(C_y, mpc.M_Hp, C_y)
+    mul!(q̃, M_Hp_Ẽ', Cy)
+    p .= dot(Cy, mpc.M_Hp, Cy)
     if ~mpc.noR̂u
         mpc.R̂u .= R̂u
-        C_u = mpc.T_lastu .- mpc.R̂u
+        Cu = mpc.T_lastu .- mpc.R̂u
         L_Hp_S̃ = mpc.L_Hp*mpc.S̃
-        mul!(q̃, L_Hp_S̃', C_u, 1, 1)
-        p .+= dot(C_u, mpc.L_Hp, C_u)
+        mul!(q̃, L_Hp_S̃', Cu, 1, 1)
+        p .+= dot(Cu, mpc.L_Hp, Cu)
     end
     lmul!(2, q̃)
     return nothing

src/estimator/kalman.jl

@@ -818,7 +818,7 @@ function update_estimate_kf!(estim::StateEstimator{NT}, u, ym, d, Â, Ĉm, P̂
     Q̂, R̂, M̂, K̂ = estim.Q̂, estim.R̂, estim.M̂, estim.K̂
     nx̂, nu, ny = estim.nx̂, estim.model.nu, estim.model.ny
     x̂next, û, ŷ = Vector{NT}(undef, nx̂), Vector{NT}(undef, nu), Vector{NT}(undef, ny)
-    mul!(M̂, P̂.data, Ĉm') # the ".data" weirdly remove a type instability in mul!
+    mul!(M̂, P̂.data, Ĉm') # the ".data" weirdly removes a type instability in mul!
     rdiv!(M̂, cholesky!(Hermitian(Ĉm * P̂ * Ĉm' .+ R̂)))
     mul!(K̂, Â, M̂)
     ĥ!(ŷ, estim, estim.model, x̂, d)