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EKF: covariances() helper return const reference and fix code style

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- PX4 astyle puts the reference with the name.
This commit is contained in:
Daniel Agar
2020-02-21 11:28:44 -05:00
committed by GitHub
parent 8b918563a2
commit 71d4d22ae4
1 changed files with 14 additions and 14 deletions
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EKF/ekf.h
+14 -14
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@@ -66,13 +66,13 @@ public:
void getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) override; void getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) override;
void getGpsVelPosInnovRatio(float& hvel, float &vvel, float& hpos, float &vpos) override; void getGpsVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) override;
void getEvVelPosInnov(float hvel[2], float& vvel, float hpos[2], float& vpos) override; void getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) override;
void getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) override; void getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) override;
void getEvVelPosInnovRatio(float& hvel, float &vvel, float& hpos, float &vpos) override; void getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) override;
void getBaroHgtInnov(float &baro_hgt_innov) override; void getBaroHgtInnov(float &baro_hgt_innov) override;
@@ -147,7 +147,7 @@ public:
void get_true_airspeed(float *tas) override; void get_true_airspeed(float *tas) override;
// get the full covariance matrix // get the full covariance matrix
matrix::SquareMatrix<float, 24> covariances() const { return P; } const matrix::SquareMatrix<float, 24> &covariances() const { return P; }
// get the diagonal elements of the covariance matrix // get the diagonal elements of the covariance matrix
matrix::Vector<float, 24> covariances_diagonal() const { return P.diag(); } matrix::Vector<float, 24> covariances_diagonal() const { return P.diag(); }
@@ -563,17 +563,17 @@ private:
// fuse optical flow line of sight rate measurements // fuse optical flow line of sight rate measurements
void fuseOptFlow(); void fuseOptFlow();
bool fuseHorizontalVelocity(const Vector3f &innov, const Vector2f &innov_gate, bool fuseHorizontalVelocity(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
const Vector3f &obs_var, Vector3f &innov_var, Vector2f &test_ratio); Vector3f &innov_var, Vector2f &test_ratio);
bool fuseVerticalVelocity(const Vector3f &innov, const Vector2f &innov_gate, bool fuseVerticalVelocity(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
const Vector3f &obs_var, Vector3f &innov_var, Vector2f &test_ratio); Vector3f &innov_var, Vector2f &test_ratio);
bool fuseHorizontalPosition(const Vector3f &innov, const Vector2f &innov_gate, bool fuseHorizontalPosition(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
const Vector3f &obs_var, Vector3f &innov_var, Vector2f &test_ratio); Vector3f &innov_var, Vector2f &test_ratio);
bool fuseVerticalPosition(const Vector3f &innov, const Vector2f &innov_gate, bool fuseVerticalPosition(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
const Vector3f &obs_var, Vector3f &innov_var, Vector2f &test_ratio); Vector3f &innov_var, Vector2f &test_ratio);
// calculate optical flow body angular rate compensation // calculate optical flow body angular rate compensation
// returns false if bias corrected body rate data is unavailable // returns false if bias corrected body rate data is unavailable
@@ -594,7 +594,7 @@ private:
// reset the heading and magnetic field states using the declination and magnetometer/external vision measurements // reset the heading and magnetic field states using the declination and magnetometer/external vision measurements
// return true if successful // return true if successful
bool resetMagHeading(const Vector3f &mag_init, bool increase_yaw_var = true, bool update_buffer=true); bool resetMagHeading(const Vector3f &mag_init, bool increase_yaw_var = true, bool update_buffer = true);
// Do a forced re-alignment of the yaw angle to align with the horizontal velocity vector from the GPS. // Do a forced re-alignment of the yaw angle to align with the horizontal velocity vector from the GPS.
// It is used to align the yaw angle after launch or takeoff for fixed wing vehicle. // It is used to align the yaw angle after launch or takeoff for fixed wing vehicle.
@@ -784,7 +784,7 @@ private:
// calculate a synthetic value for the magnetometer Z component, given the 3D magnetomter // calculate a synthetic value for the magnetometer Z component, given the 3D magnetomter
// sensor measurement // sensor measurement
float calculate_synthetic_mag_z_measurement(const Vector3f& mag_meas, const Vector3f& mag_earth_predicted); float calculate_synthetic_mag_z_measurement(const Vector3f &mag_meas, const Vector3f &mag_earth_predicted);
bool isTimedOut(uint64_t last_sensor_timestamp, uint64_t timeout_period) const bool isTimedOut(uint64_t last_sensor_timestamp, uint64_t timeout_period) const
{ {