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Fix white space

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kamilritz 2019-09-19 14:43:06 +02:00 committed by Paul Riseborough
parent 10cbd79db7
commit 1e57c4bbec
5 changed files with 6 additions and 6 deletions
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4
EKF/common.h
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@ -260,8 +260,8 @@ struct parameters {
float pos_noaid_noise{10.0f}; ///< observation noise for non-aiding position fusion (m)
float baro_noise{2.0f}; ///< observation noise for barometric height fusion (m)
float baro_innov_gate{5.0f}; ///< barometric and GPS height innovation consistency gate size (STD)
float gps_pos_innov_gate{5.0f}; ///< GPS horizontal position innovation consistency gate size (STD)
float gps_vel_innov_gate{5.0f}; ///< GPS velocity innovation consistency gate size (STD)
float gps_pos_innov_gate{5.0f}; ///< GPS horizontal position innovation consistency gate size (STD)
float gps_vel_innov_gate{5.0f}; ///< GPS velocity innovation consistency gate size (STD)
float gnd_effect_deadzone{5.0f}; ///< Size of deadzone applied to negative baro innovations when ground effect compensation is active (m)
float gnd_effect_max_hgt{0.5f}; ///< Height above ground at which baro ground effect becomes insignificant (m)

2
EKF/ekf_helper.cpp
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@ -1121,7 +1121,7 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, fl
bool relying_on_rangefinder = _control_status.flags.rng_hgt && !_params.range_aid;
bool relying_on_optical_flow = _control_status.flags.opt_flow && !(_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel);
bool relying_on_optical_flow = _control_status.flags.opt_flow && !(_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel);
// Do not require limiting by default
*vxy_max = NAN;

2
EKF/estimator_interface.cpp
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@ -384,7 +384,7 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
flow_magnitude_good = (flow_rate_magnitude <= _flow_max_rate);
}
bool relying_on_flow = !_control_status.flags.gps && !_control_status.flags.ev_pos && !_control_status.flags.ev_vel;
bool relying_on_flow = !_control_status.flags.gps && !_control_status.flags.ev_pos && !_control_status.flags.ev_vel;
// check quality metric
bool flow_quality_good = (flow->quality >= _params.flow_qual_min);

2
EKF/gps_checks.cpp
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@ -67,7 +67,7 @@ bool Ekf::collect_gps(const gps_message &gps)
map_projection_init_timestamped(&_pos_ref, lat, lon, _time_last_imu);
// if we are already doing aiding, correct for the change in position since the EKF started navigationg
if (_control_status.flags.opt_flow || _control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel) {
if (_control_status.flags.opt_flow || _control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel) {
double est_lat, est_lon;
map_projection_reproject(&_pos_ref, -_state.pos(0), -_state.pos(1), &est_lat, &est_lon);
map_projection_init_timestamped(&_pos_ref, est_lat, est_lon, _time_last_imu);

2
EKF/vel_pos_fusion.cpp
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@ -152,7 +152,7 @@ void Ekf::fuseVelPosHeight()
R[5] = fmaxf(_ev_sample_delayed.hgtErr, 0.01f);
R[5] = R[5] * R[5];
// innovation gate size
gate_size[5] = fmaxf(_params.ev_pos_innov_gate, 1.0f);
gate_size[5] = fmaxf(_params.ev_pos_innov_gate, 1.0f);
}
// update innovation class variable for logging purposes