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Ekf: correct wrong indentation

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bresch
2020-03-09 20:22:57 +01:00
committed by Mathieu Bresciani
parent 684737eab1
commit 13a7d53295
1 changed files with 9 additions and 10 deletions
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EKF/ekf_helper.cpp
+9 -10
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@@ -227,20 +227,19 @@ void Ekf::resetHeight()
// reset the vertical position
if (_control_status.flags.rng_hgt) {
float new_pos_down = _hgt_sensor_offset - _range_sample_delayed.rng * _R_rng_to_earth_2_2;
float new_pos_down = _hgt_sensor_offset - _range_sample_delayed.rng * _R_rng_to_earth_2_2;
// update the state and associated variance
_state.pos(2) = new_pos_down;
// update the state and associated variance
_state.pos(2) = new_pos_down;
// the state variance is the same as the observation
P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.range_noise));
// the state variance is the same as the observation
P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.range_noise));
vert_pos_reset = true;
vert_pos_reset = true;
// reset the baro offset which is subtracted from the baro reading if we need to use it as a backup
const baroSample &baro_newest = _baro_buffer.get_newest();
_baro_hgt_offset = baro_newest.hgt + _state.pos(2);
// reset the baro offset which is subtracted from the baro reading if we need to use it as a backup
const baroSample &baro_newest = _baro_buffer.get_newest();
_baro_hgt_offset = baro_newest.hgt + _state.pos(2);
} else if (_control_status.flags.baro_hgt) {
// initialize vertical position with newest baro measurement