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ekf2: velocity/position fusion helper minor consistency cleanup

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This commit is contained in:
Daniel Agar
2024-02-20 13:16:24 -05:00
parent c338891677
commit 22b957696d
4 changed files with 66 additions and 66 deletions
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src/modules/ekf2/EKF/ekf.h
+2 -2
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@@ -828,7 +828,7 @@ private:
void updateVerticalPositionAidSrcStatus(const uint64_t &time_us, const float obs, const float obs_var, const float innov_gate, estimator_aid_source1d_s &aid_src) const;
// 2d & 3d velocity aid source
void updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var, const float innov_gate, estimator_aid_source2d_s &aid_src) const;
void updateHorizontalVelocityAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var, const float innov_gate, estimator_aid_source2d_s &aid_src) const;
void updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector3f &obs, const Vector3f &obs_var, const float innov_gate, estimator_aid_source3d_s &aid_src) const;
// horizontal and vertical position fusion
@@ -836,7 +836,7 @@ private:
void fuseVerticalPosition(estimator_aid_source1d_s &hgt_aid_src);
// 2d & 3d velocity fusion
void fuseVelocity(estimator_aid_source2d_s &vel_aid_src);
void fuseHorizontalVelocity(estimator_aid_source2d_s &vel_aid_src);
void fuseVelocity(estimator_aid_source3d_s &vel_aid_src);
#if defined(CONFIG_EKF2_TERRAIN)