From 0b7cc7561839ec2d2580d71f26971f41f1ea9eb6 Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Fri, 6 Mar 2026 12:32:29 -0900 Subject: [PATCH] format --- .../EKF/aid_sources/external_vision/ev_height_control.cpp | 2 +- .../ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp index 3701aa2027..a214a2aa5b 100644 --- a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp +++ b/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 } } diff --git a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp index 54bb899c85..ace029e51d 100644 --- a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp +++ b/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();