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ekf2: code style fixes

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Paul Riseborough
2016-11-08 11:17:07 +01:00
committed by Beat Küng
parent 699edd2535
commit 5ac73f3440
2 changed files with 14 additions and 6 deletions
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src/modules/ekf2/ekf2_main.cpp
+9 -6
View File
@@ -149,7 +149,8 @@ private:
float _balt_data_sum; // summed barometric altitude readings (m)
uint64_t _balt_time_sum_ms; // summed barometric altitude time stamps (msec)
uint8_t _balt_sample_count = 0; // number of barometric altitude measurements summed
uint32_t _balt_time_ms_last_used = 0; // time stamp in msec of the last averaged barometric altitude measurement used by the EKF
uint32_t _balt_time_ms_last_used =
0; // time stamp in msec of the last averaged barometric altitude measurement used by the EKF
int _sensors_sub = -1;
int _gps_sub = -1;
@@ -549,16 +550,17 @@ void Ekf2::task_main()
// If the time last used by the EKF is less than 50msec, then accumulate the
// data and push the average when the 50msec is reached.
_mag_time_sum_ms += _timestamp_mag_us/1000;
_mag_time_sum_ms += _timestamp_mag_us / 1000;
_mag_sample_count++;
_mag_data_sum[0] += sensors.magnetometer_ga[0];
_mag_data_sum[1] += sensors.magnetometer_ga[1];
_mag_data_sum[2] += sensors.magnetometer_ga[2];
uint64_t mag_time_ms = _mag_time_sum_ms / _mag_sample_count;
if (mag_time_ms - _mag_time_ms_last_used > 50) {
float mag_sample_count_inv = 1.0f / (float)_mag_sample_count;
float mag_data_avg_ga[3] = {_mag_data_sum[0]*mag_sample_count_inv , _mag_data_sum[1]*mag_sample_count_inv , _mag_data_sum[2]*mag_sample_count_inv};
_ekf.setMagData(1000*(uint64_t)mag_time_ms, mag_data_avg_ga);
float mag_data_avg_ga[3] = {_mag_data_sum[0] *mag_sample_count_inv , _mag_data_sum[1] *mag_sample_count_inv , _mag_data_sum[2] *mag_sample_count_inv};
_ekf.setMagData(1000 * (uint64_t)mag_time_ms, mag_data_avg_ga);
_mag_time_ms_last_used = mag_time_ms;
_mag_time_sum_ms = 0;
_mag_sample_count = 0;
@@ -581,13 +583,14 @@ void Ekf2::task_main()
// If the time last used by the EKF is less than 50msec, then accumulate the
// data and push the average when the 50msec is reached.
_balt_time_sum_ms += _timestamp_balt_us/1000;
_balt_time_sum_ms += _timestamp_balt_us / 1000;
_balt_sample_count++;
_balt_data_sum += sensors.baro_alt_meter;
uint64_t balt_time_ms = _balt_time_sum_ms / _balt_sample_count;
if (balt_time_ms - _balt_time_ms_last_used > 50) {
float balt_data_avg = _balt_data_sum / (float)_balt_sample_count;
_ekf.setBaroData(1000*(uint64_t)balt_time_ms, &balt_data_avg);
_ekf.setBaroData(1000 * (uint64_t)balt_time_ms, &balt_data_avg);
_balt_time_ms_last_used = balt_time_ms;
_balt_time_sum_ms = 0;
_balt_sample_count = 0;
src/modules/ekf2_replay/ekf2_replay_main.cpp
+5
View File
@@ -379,18 +379,23 @@ void Ekf2Replay::setEstimatorInput(uint8_t *data, uint8_t type)
_sensors.timestamp = replay_part1.time_ref;
_sensors.gyro_integral_dt = replay_part1.gyro_integral_dt;
_sensors.accelerometer_integral_dt = replay_part1.accelerometer_integral_dt;
// If the magnetometer timestamp is zero, then there is no valid data
if (replay_part1.magnetometer_timestamp == 0) {
_sensors.magnetometer_timestamp_relative = (int32_t)sensor_combined_s::RELATIVE_TIMESTAMP_INVALID;
} else {
_sensors.magnetometer_timestamp_relative = (int32_t)(replay_part1.magnetometer_timestamp - _sensors.timestamp);
}
// If the barometer timestamp is zero then there is no valid data
if (replay_part1.baro_timestamp == 0) {
_sensors.baro_timestamp_relative = (int32_t)sensor_combined_s::RELATIVE_TIMESTAMP_INVALID;
} else {
_sensors.baro_timestamp_relative = (int32_t)(replay_part1.baro_timestamp - _sensors.timestamp);
}
_sensors.gyro_rad[0] = replay_part1.gyro_x_rad;
_sensors.gyro_rad[1] = replay_part1.gyro_y_rad;
_sensors.gyro_rad[2] = replay_part1.gyro_z_rad;