From 9eea44f4ab4d7d51339b17194d4efeec416720c6 Mon Sep 17 00:00:00 2001
From: kritz <kritz@ethz.ch>
Date: Thu, 2 Jul 2020 14:53:59 +0200
Subject: [PATCH] Return type of resets (#859)

* Reset position/velocity return type is void

* Delete not needed comments
---
 EKF/ekf.h          |  5 ++---
 EKF/ekf_helper.cpp | 13 ++++---------
 2 files changed, 6 insertions(+), 12 deletions(-)

diff --git a/EKF/ekf.h b/EKF/ekf.h
index f12c92147b..16e70e6728 100644
--- a/EKF/ekf.h
+++ b/EKF/ekf.h
@@ -578,8 +578,7 @@ private:
 	// fuse single velocity and position measurement
 	void fuseVelPosHeight(const float innov, const float innov_var, const int obs_index);
 
-	// reset velocity states of the ekf
-	bool resetVelocity();
+	void resetVelocity();
 
 	void resetVelocityToGps();
 
@@ -595,7 +594,7 @@ private:
 
 	inline void resetVerticalVelocityTo(float new_vert_vel);
 
-	bool resetHorizontalPosition();
+	void resetHorizontalPosition();
 
 	void resetHorizontalPositionToGps();
 
diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp
index a75d0f4be7..30cca7f95b 100644
--- a/EKF/ekf_helper.cpp
+++ b/EKF/ekf_helper.cpp
@@ -45,9 +45,8 @@
 #include <mathlib/mathlib.h>
 #include <cstdlib>
 
-// Reset the velocity states. If we have a recent and valid
-// gps measurement then use for velocity initialisation
-bool Ekf::resetVelocity()
+
+void Ekf::resetVelocity()
 {
 	if (_control_status.flags.gps && isTimedOut(_last_gps_fail_us, (uint64_t)_min_gps_health_time_us)) {
 		// this reset is only called if we have new gps data at the fusion time horizon
@@ -62,7 +61,6 @@ bool Ekf::resetVelocity()
 	} else {
 		resetHorizontalVelocityToZero();
 	}
-	return true;
 }
 
 void Ekf::resetVelocityToGps() {
@@ -150,9 +148,8 @@ void Ekf::resetVerticalVelocityTo(float new_vert_vel) {
 	_state_reset_status.velD_counter++;
 }
 
-// Reset position states. If we have a recent and valid
-// gps measurement then use for position initialisation
-bool Ekf::resetHorizontalPosition()
+
+void Ekf::resetHorizontalPosition()
 {
 	// let the next odometry update know that the previous value of states cannot be used to calculate the change in position
 	_hpos_prev_available = false;
@@ -184,8 +181,6 @@ bool Ekf::resetHorizontalPosition()
 		resetHorizontalPositionTo(_last_known_posNE);
 		P.uncorrelateCovarianceSetVariance<2>(7, sq(_params.pos_noaid_noise));
 	}
-
-	return true;
 }
 
 void Ekf::resetHorizontalPositionToGps() {