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Remove whitespace differences with upstream for pull request.

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mcsauder
2016-02-23 19:49:27 -07:00
parent fad1c87631
commit 6c96f45f08
4 changed files with 78 additions and 76 deletions
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EKF/estimator_interface.h
+16 -15
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@@ -164,15 +164,15 @@ public:
protected:
parameters _params; // filter parameters
parameters _params; // filter parameters
static const uint8_t OBS_BUFFER_LENGTH = 10; // defines how many measurement samples we can buffer
static const uint8_t IMU_BUFFER_LENGTH = 30; // defines how many imu samples we can buffer
static const unsigned FILTER_UPDATE_PERRIOD_MS = 10; // ekf prediction period in milliseconds
static const uint8_t OBS_BUFFER_LENGTH = 10; // defines how many measurement samples we can buffer
static const uint8_t IMU_BUFFER_LENGTH = 30; // defines how many imu samples we can buffer
static const unsigned FILTER_UPDATE_PERRIOD_MS = 10; // ekf prediction period in milliseconds
float _dt_imu_avg; // average imu update period in s
float _dt_imu_avg; // average imu update period in s
imuSample _imu_sample_delayed; // captures the imu sample on the delayed time horizon
imuSample _imu_sample_delayed; // captures the imu sample on the delayed time horizon
// measurement samples capturing measurements on the delayed time horizon
magSample _mag_sample_delayed;
@@ -182,11 +182,11 @@ protected:
airspeedSample _airspeed_sample_delayed;
flowSample _flow_sample_delayed;
outputSample _output_sample_delayed; // filter output on the delayed time horizon
outputSample _output_new; // filter output on the non-delayed time horizon
imuSample _imu_sample_new; // imu sample capturing the newest imu data
outputSample _output_sample_delayed; // filter output on the delayed time horizon
outputSample _output_new; // filter output on the non-delayed time horizon
imuSample _imu_sample_new; // imu sample capturing the newest imu data
uint64_t _imu_ticks; // counter for imu updates
uint64_t _imu_ticks; // counter for imu updates
bool _imu_updated; // true if the ekf should update (completed downsampling process)
bool _initialised; // true if the ekf interface instance (data buffering) is initialized
@@ -201,6 +201,7 @@ protected:
bool _mag_healthy; // computed by mag innovation test
float _yaw_test_ratio; // yaw innovation consistency check ratio
float _mag_test_ratio[3]; // magnetometer XYZ innovation consistency check ratios
float _vel_pos_test_ratio[6]; // velocity and position innovation consistency check ratios
// data buffer instances
@@ -213,11 +214,11 @@ protected:
RingBuffer<flowSample> _flow_buffer;
RingBuffer<outputSample> _output_buffer;
uint64_t _time_last_imu; // timestamp of last imu sample in microseconds
uint64_t _time_last_gps; // timestamp of last gps measurement in microseconds
uint64_t _time_last_mag; // timestamp of last magnetometer measurement in microseconds
uint64_t _time_last_baro; // timestamp of last barometer measurement in microseconds
uint64_t _time_last_range; // timestamp of last range measurement in microseconds
uint64_t _time_last_imu; // timestamp of last imu sample in microseconds
uint64_t _time_last_gps; // timestamp of last gps measurement in microseconds
uint64_t _time_last_mag; // timestamp of last magnetometer measurement in microseconds
uint64_t _time_last_baro; // timestamp of last barometer measurement in microseconds
uint64_t _time_last_range; // timestamp of last range measurement in microseconds
uint64_t _time_last_airspeed; // timestamp of last airspeed measurement in microseconds
fault_status_t _fault_status;