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EKF2: Following style suggestion.

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Signed-off-by: Daniel M. Sahu <danielmohansahu@gmail.com>
This commit is contained in:
Daniel M. Sahu
2023-02-01 15:22:39 -05:00
parent 5018540c8b
commit 72355cf000
1 changed files with 6 additions and 3 deletions
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src/modules/ekf2/EKF/gravity_fusion.cpp
+6 -3
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@@ -61,10 +61,13 @@ void Ekf::fuseGravity()
&_gravity_innov, &innovation_variance, &Kx, &Ky, &Kz);
// perform fusion for each axis
if (!measurementUpdate(Kx, innovation_variance(0), _gravity_innov(0)))
if (!measurementUpdate(Kx, innovation_variance(0), _gravity_innov(0))) {
PX4_ERR("Gravity fusion (X axis) unsuccessful.");
if (!measurementUpdate(Ky, innovation_variance(1), _gravity_innov(1)))
}
if (!measurementUpdate(Ky, innovation_variance(1), _gravity_innov(1))) {
PX4_ERR("Gravity fusion (y axis) unsuccessful.");
if (!measurementUpdate(Kz, innovation_variance(2), _gravity_innov(2)))
}
if (!measurementUpdate(Kz, innovation_variance(2), _gravity_innov(2))) {
PX4_ERR("Gravity fusion (Z axis) unsuccessful.");
}
}