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lpe: style fix

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This commit is contained in:
TSC21
2017-11-03 23:45:43 +01:00
committed by Lorenz Meier
parent 051822eee1
commit 483f0d55e0
10 changed files with 96 additions and 100 deletions
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src/modules/local_position_estimator/sensors/flow.cpp
+4 -6
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@@ -7,8 +7,8 @@ extern orb_advert_t mavlink_log_pub;
// required number of samples for sensor
// to initialize
static const uint32_t REQ_FLOW_INIT_COUNT = 10;
static const uint32_t FLOW_TIMEOUT = 1000000; // 1 s
static const uint32_t REQ_FLOW_INIT_COUNT = 10;
static const uint32_t FLOW_TIMEOUT = 1000000; // 1 s
// minimum flow altitude
static const float flow_min_agl = 0.3;
@@ -89,8 +89,8 @@ int BlockLocalPositionEstimator::flowMeasure(Vector<float, n_y_flow> &y)
// compute velocities in body frame using ground distance
// note that the integral rates in the optical_flow uORB topic are RH rotations about body axes
Vector3f delta_b(
+(flow_y_rad - gyro_y_rad)*d,
-(flow_x_rad - gyro_x_rad)*d,
+(flow_y_rad - gyro_y_rad) * d,
-(flow_x_rad - gyro_x_rad) * d,
0);
// rotation of flow from body to nav frame
@@ -201,9 +201,7 @@ void BlockLocalPositionEstimator::flowCorrect()
Vector<float, n_x> dx = K * r;
_x += dx;
_P -= K * C * _P;
}
}
void BlockLocalPositionEstimator::flowCheckTimeout()