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Revert if-else condition to get rid of unnecessary indentation

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kamilritz
2020-07-02 15:55:24 +02:00
committed by Mathieu Bresciani
parent fce4958d4f
commit 2af2696b63
2 changed files with 150 additions and 147 deletions
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EKF/ekf.cpp
+34 -36
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@@ -188,43 +188,41 @@ bool Ekf::initialiseFilter()
if (not_enough_baro_samples_accumulated || not_enough_mag_samples_accumulated) {
return false;
} else {
// we use baro height initially and switch to GPS/range/EV finder later when it passes checks.
setControlBaroHeight();
if(!initialiseTilt()){
return false;
}
// calculate the initial magnetic field and yaw alignment
_control_status.flags.yaw_align = resetMagHeading(_mag_lpf.getState(), false, false);
// initialise the state covariance matrix now we have starting values for all the states
initialiseCovariance();
// update the yaw angle variance using the variance of the measurement
if (_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) {
// using magnetic heading tuning parameter
increaseQuatYawErrVariance(sq(fmaxf(_params.mag_heading_noise, 1.0e-2f)));
}
// try to initialise the terrain estimator
_terrain_initialised = initHagl();
// reset the essential fusion timeout counters
_time_last_hgt_fuse = _time_last_imu;
_time_last_hor_pos_fuse = _time_last_imu;
_time_last_delpos_fuse = _time_last_imu;
_time_last_hor_vel_fuse = _time_last_imu;
_time_last_hagl_fuse = _time_last_imu;
_time_last_of_fuse = _time_last_imu;
// reset the output predictor state history to match the EKF initial values
alignOutputFilter();
return true;
}
// we use baro height initially and switch to GPS/range/EV finder later when it passes checks.
setControlBaroHeight();
if(!initialiseTilt()){
return false;
}
// calculate the initial magnetic field and yaw alignment
_control_status.flags.yaw_align = resetMagHeading(_mag_lpf.getState(), false, false);
// initialise the state covariance matrix now we have starting values for all the states
initialiseCovariance();
// update the yaw angle variance using the variance of the measurement
if (_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) {
// using magnetic heading tuning parameter
increaseQuatYawErrVariance(sq(fmaxf(_params.mag_heading_noise, 1.0e-2f)));
}
// try to initialise the terrain estimator
_terrain_initialised = initHagl();
// reset the essential fusion timeout counters
_time_last_hgt_fuse = _time_last_imu;
_time_last_hor_pos_fuse = _time_last_imu;
_time_last_delpos_fuse = _time_last_imu;
_time_last_hor_vel_fuse = _time_last_imu;
_time_last_hagl_fuse = _time_last_imu;
_time_last_of_fuse = _time_last_imu;
// reset the output predictor state history to match the EKF initial values
alignOutputFilter();
return true;
}
bool Ekf::initialiseTilt()