fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-31 06:51:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: code style fixes

Browse Source
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files
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;