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EKF: fix formatting

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This commit is contained in:
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/mag_fusion.cpp
+4 -4
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@@ -55,8 +55,8 @@ void Ekf::fuseMag()
float magD = _state.mag_I(2);
// XYZ Measurement uncertainty. Need to consider timing errors for fast rotations
float R_MAG = fmaxf(_params.mag_noise, 1.0e-3f);
R_MAG = R_MAG*R_MAG;
float R_MAG = fmaxf(_params.mag_noise, 1.0e-3f);
R_MAG = R_MAG * R_MAG;
// intermediate variables from algebraic optimisation
float SH_MAG[9];
@@ -472,8 +472,8 @@ void Ekf::fuseHeading()
float magY = _mag_sample_delayed.mag(1);
float magZ = _mag_sample_delayed.mag(2);
float R_mag = fmaxf(_params.mag_heading_noise, 1.0e-2f);
R_mag = R_mag*R_mag;
float R_mag = fmaxf(_params.mag_heading_noise, 1.0e-2f);
R_mag = R_mag * R_mag;
float t2 = q0 * q0;
float t3 = q1 * q1;