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EKF: fix formatting

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Paul Riseborough
2016-02-04 17:15:03 +11:00
parent 9bfc11b660
commit 3f81eb7d1b
6 changed files with 38 additions and 38 deletions
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EKF/covariance.cpp
+6 -6
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@@ -130,12 +130,12 @@ void Ekf::predictCovariance()
// compute process noise
float process_noise[_k_num_states] = {};
float d_ang_bias_sig = dt * math::constrain(_params.gyro_bias_p_noise, 0.0f, 1e-4f);
float d_vel_bias_sig = dt * math::constrain(_params.accel_bias_p_noise, 0.0f, 1e-2f);
float d_ang_scale_sig = dt * math::constrain(_params.gyro_scale_p_noise, 0.0f, 1e-2f);
float mag_I_sig = dt * math::constrain(_params.mag_p_noise, 0.0f, 1e-1f);
float mag_B_sig = dt * math::constrain(_params.mag_p_noise, 0.0f, 1e-1f);
float wind_vel_sig = dt * math::constrain(_params.wind_vel_p_noise, 0.0f, 1.0f);
float d_ang_bias_sig = dt * math::constrain(_params.gyro_bias_p_noise, 0.0f, 1e-4f);
float d_vel_bias_sig = dt * math::constrain(_params.accel_bias_p_noise, 0.0f, 1e-2f);
float d_ang_scale_sig = dt * math::constrain(_params.gyro_scale_p_noise, 0.0f, 1e-2f);
float mag_I_sig = dt * math::constrain(_params.mag_p_noise, 0.0f, 1e-1f);
float mag_B_sig = dt * math::constrain(_params.mag_p_noise, 0.0f, 1e-1f);
float wind_vel_sig = dt * math::constrain(_params.wind_vel_p_noise, 0.0f, 1.0f);
for (unsigned i = 0; i < 9; i++) {
process_noise[i] = 0.0f;