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ekf2: manual style cleanup after astyle enforcement

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This commit is contained in:
Daniel Agar
2024-07-10 12:52:00 -04:00
parent 2c3401dc83
commit 82b6797547
22 changed files with 238 additions and 258 deletions
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src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp
+4 -6
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@@ -55,8 +55,6 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
imu_delayed.delta_vel, imu_delayed.delta_vel_dt,
(_control_status.flags.in_air && !_control_status.flags.vehicle_at_rest));
_gps_intermittent = !isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GNSS_MAX_INTERVAL);
// check for arrival of new sensor data at the fusion time horizon
_gps_data_ready = _gps_buffer->pop_first_older_than(imu_delayed.time_us, &_gps_sample_delayed);
@@ -365,13 +363,13 @@ void Ekf::controlGpsYawFusion(const gnssSample &gps_sample)
const bool continuing_conditions_passing = _control_status.flags.tilt_align;
const bool is_gps_yaw_data_intermittent = !isNewestSampleRecent(_time_last_gps_yaw_buffer_push,
2 * GNSS_YAW_MAX_INTERVAL);
// Maximum allowable time interval between GNSS yaw measurements (uSec)
static constexpr uint64_t GNSS_YAW_MAX_INTERVAL{1'500'000};
const bool data_intermittent = !isNewestSampleRecent(_time_last_gps_yaw_buffer_push, 2 * GNSS_YAW_MAX_INTERVAL);
const bool starting_conditions_passing = continuing_conditions_passing
&& _gps_checks_passed
&& !is_gps_yaw_data_intermittent
&& !_gps_intermittent;
&& !data_intermittent;
if (_control_status.flags.gps_yaw) {
if (continuing_conditions_passing) {