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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
+9 -9
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@@ -147,7 +147,7 @@ public:
void get_true_airspeed(float *tas) override;
// 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
matrix::Vector<float, 24> covariances_diagonal() const { return P.diag(); }
@@ -563,17 +563,17 @@ private:
// fuse optical flow line of sight rate measurements
void fuseOptFlow();
bool fuseHorizontalVelocity(const Vector3f &innov, const Vector2f &innov_gate,
const Vector3f &obs_var, Vector3f &innov_var, Vector2f &test_ratio);
bool fuseHorizontalVelocity(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
Vector3f &innov_var, Vector2f &test_ratio);
bool fuseVerticalVelocity(const Vector3f &innov, const Vector2f &innov_gate,
const Vector3f &obs_var, Vector3f &innov_var, Vector2f &test_ratio);
bool fuseVerticalVelocity(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
Vector3f &innov_var, Vector2f &test_ratio);
bool fuseHorizontalPosition(const Vector3f &innov, const Vector2f &innov_gate,
const Vector3f &obs_var, Vector3f &innov_var, Vector2f &test_ratio);
bool fuseHorizontalPosition(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
Vector3f &innov_var, Vector2f &test_ratio);
bool fuseVerticalPosition(const Vector3f &innov, const Vector2f &innov_gate,
const Vector3f &obs_var, Vector3f &innov_var, Vector2f &test_ratio);
bool fuseVerticalPosition(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
Vector3f &innov_var, Vector2f &test_ratio);
// calculate optical flow body angular rate compensation
// returns false if bias corrected body rate data is unavailable