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EKF trivial code style cleanup

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This commit is contained in:
Daniel Agar
2017-08-25 10:09:11 -04:00
parent 89236ef275
commit 99ba1c3745
12 changed files with 295 additions and 289 deletions
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EKF/drag_fusion.cpp
+14 -10
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@@ -43,7 +43,7 @@
#include "mathlib.h"
void Ekf::fuseDrag()
{
{
float SH_ACC[4] = {}; // Variable used to optimise calculations of measurement jacobian
float H_ACC[24] = {}; // Observation Jacobian
float SK_ACC[9] = {}; // Variable used to optimise calculations of the Kalman gain vector
@@ -85,7 +85,7 @@ void Ekf::fuseDrag()
rel_wind = earth_to_body * rel_wind;
// perform sequential fusion of XY specific forces
for (uint8_t axis_index = 0; axis_index <2; axis_index++) {
for (uint8_t axis_index = 0; axis_index < 2; axis_index++) {
// calculate observation jacobiam and Kalman gain vectors
if (axis_index == 0) {
// Estimate the airspeed from the measured drag force and ballistic coefficient
@@ -94,7 +94,7 @@ void Ekf::fuseDrag()
// Estimate the derivative of specific force wrt airspeed along the X axis
// Limit lower value to prevent arithmetic exceptions
float Kacc = fmaxf(1e-1f,rho * BC_inv_x * airSpd);
float Kacc = fmaxf(1e-1f, rho * BC_inv_x * airSpd);
SH_ACC[0] = sq(q0) + sq(q1) - sq(q2) - sq(q3);
SH_ACC[1] = vn - vwn;
@@ -149,11 +149,13 @@ void Ekf::fuseDrag()
// calculate the predicted acceleration and innovation measured along the X body axis
float drag_sign;
if (rel_wind(axis_index) >= 0.0f) {
drag_sign = 1.0f;
drag_sign = 1.0f;
} else {
drag_sign = -1.0f;
drag_sign = -1.0f;
}
float predAccel = -BC_inv_x * 0.5f*rho*sq(rel_wind(axis_index)) * drag_sign;
float predAccel = -BC_inv_x * 0.5f * rho * sq(rel_wind(axis_index)) * drag_sign;
_drag_innov[axis_index] = predAccel - mea_acc;
_drag_test_ratio[axis_index] = sq(_drag_innov[axis_index]) / (25.0f * _drag_innov_var[axis_index]);
@@ -164,7 +166,7 @@ void Ekf::fuseDrag()
// Estimate the derivative of specific force wrt airspeed along the X axis
// Limit lower value to prevent arithmetic exceptions
float Kacc = fmaxf(1e-1f,rho * BC_inv_y * airSpd);
float Kacc = fmaxf(1e-1f, rho * BC_inv_y * airSpd);
SH_ACC[0] = sq(q0) - sq(q1) + sq(q2) - sq(q3);
SH_ACC[1] = vn - vwn;
@@ -221,11 +223,13 @@ void Ekf::fuseDrag()
// calculate the predicted acceleration and innovation measured along the Y body axis
float drag_sign;
if (rel_wind(axis_index) >= 0.0f) {
drag_sign = 1.0f;
drag_sign = 1.0f;
} else {
drag_sign = -1.0f;
drag_sign = -1.0f;
}
float predAccel = -BC_inv_y * 0.5f*rho*sq(rel_wind(axis_index)) * drag_sign;
float predAccel = -BC_inv_y * 0.5f * rho * sq(rel_wind(axis_index)) * drag_sign;
_drag_innov[axis_index] = predAccel - mea_acc;
_drag_test_ratio[axis_index] = sq(_drag_innov[axis_index]) / (25.0f * _drag_innov_var[axis_index]);