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fixed formatting

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This commit is contained in:
tumbili
2016-04-01 13:54:47 +02:00
parent 4da93a316d
commit 08be5b3f3a
1 changed files with 9 additions and 4 deletions
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src/modules/ekf2/ekf2_main.cpp
+9 -4
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@@ -189,7 +189,8 @@ private:
control::BlockParamFloat *_mag_declination_deg; // magnetic declination in degrees
control::BlockParamFloat *_heading_innov_gate; // innovation gate for heading innovation test
control::BlockParamFloat *_mag_innov_gate; // innovation gate for magnetometer innovation test
control::BlockParamInt *_mag_decl_source; // bitmasked integer used to control the handling of magnetic declination
control::BlockParamInt
*_mag_decl_source; // bitmasked integer used to control the handling of magnetic declination
control::BlockParamInt *_mag_fuse_type; // integer ued to control the type of magnetometer fusion used
control::BlockParamInt *_gps_check_mask; // bitmasked integer used to activate the different GPS quality checks
@@ -203,7 +204,8 @@ private:
control::BlockParamInt *_param_record_replay_msg; // indicates if we want to record ekf2 replay messages
// measurement source control
control::BlockParamInt *_fusion_mode; // bitmasked integer that selects which of the GPS and optical flow aiding sources will be used
control::BlockParamInt
*_fusion_mode; // bitmasked integer that selects which of the GPS and optical flow aiding sources will be used
control::BlockParamInt *_vdist_sensor_type; // selects the primary source for height data
// range finder fusion
@@ -212,8 +214,10 @@ private:
control::BlockParamFloat *_rng_gnd_clearance; // minimum valid value for range when on ground (m)
// optical flow fusion
control::BlockParamFloat *_flow_noise; // best quality observation noise for optical flow LOS rate measurements (rad/sec)
control::BlockParamFloat *_flow_noise_qual_min; // worst quality observation noise for optical flow LOS rate measurements (rad/sec)
control::BlockParamFloat
*_flow_noise; // best quality observation noise for optical flow LOS rate measurements (rad/sec)
control::BlockParamFloat
*_flow_noise_qual_min; // worst quality observation noise for optical flow LOS rate measurements (rad/sec)
control::BlockParamInt *_flow_qual_min; // minimum acceptable quality integer from the flow sensor
control::BlockParamFloat *_flow_innov_gate; // optical flow fusion innovation consistency gate size (STD)
control::BlockParamFloat *_flow_rate_max; // maximum valid optical flow rate (rad/sec)
@@ -625,6 +629,7 @@ void Ekf2::task_main()
orb_publish(ORB_ID(vehicle_global_position), _vehicle_global_position_pub, &global_pos);
}
}
} else if (_replay_mode) {
// in replay mode we have to tell the replay module not to wait for an update
// we do this by publishing an attitude with zero timestamp