format

src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp

@@ -69,7 +69,7 @@ void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSamp
 
 			// Position variance contribution from orientation uncertainty: δp_z = δθ_roll·py - δθ_pitch·px
 			pos_cov(2, 2) += sq(ev_sample.pos(1)) * ev_sample.orientation_var(0)   // roll
-				       + sq(ev_sample.pos(0)) * ev_sample.orientation_var(1);   // pitch
+					 + sq(ev_sample.pos(0)) * ev_sample.orientation_var(1);   // pitch
 		}
 	}
 

src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp

@@ -103,9 +103,9 @@ void Ekf::controlEvPosFusion(const imuSample &imu_sample, const extVisionSample
 
 			// Position variance contribution from orientation uncertainty: δp = δθ × p
 			pos_cov(0, 0) += sq(ev_sample.pos(2)) * ev_sample.orientation_var(1)   // pitch
-				       + sq(ev_sample.pos(1)) * ev_sample.orientation_var(2);   // yaw
+					 + sq(ev_sample.pos(1)) * ev_sample.orientation_var(2);   // yaw
 			pos_cov(1, 1) += sq(ev_sample.pos(0)) * ev_sample.orientation_var(2)   // yaw
-				       + sq(ev_sample.pos(2)) * ev_sample.orientation_var(0);   // roll
+					 + sq(ev_sample.pos(2)) * ev_sample.orientation_var(0);   // roll
 
 			if (_control_status.flags.gnss_pos) {
 				_ev_pos_b_est.setFusionActive();