fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: fix formatting

Browse Source
This commit is contained in:
Paul Riseborough 2016-11-16 08:50:25 +11:00 committed by Lorenz Meier
parent 056ac3c9c6
commit 9ff1feb92f
1 changed files with 21 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

42
src/modules/ekf2/ekf2_main.cpp
View File

@ -962,31 +962,31 @@ void Ekf2::task_main()
// publish estimator innovation data
{
struct ekf2_innovations_s innovations = {};
innovations.timestamp = hrt_absolute_time();
_ekf.get_vel_pos_innov(&innovations.vel_pos_innov[0]);
_ekf.get_mag_innov(&innovations.mag_innov[0]);
_ekf.get_heading_innov(&innovations.heading_innov);
_ekf.get_airspeed_innov(&innovations.airspeed_innov);
_ekf.get_beta_innov(&innovations.beta_innov);
_ekf.get_flow_innov(&innovations.flow_innov[0]);
_ekf.get_hagl_innov(&innovations.hagl_innov);
struct ekf2_innovations_s innovations = {};
innovations.timestamp = hrt_absolute_time();
_ekf.get_vel_pos_innov(&innovations.vel_pos_innov[0]);
_ekf.get_mag_innov(&innovations.mag_innov[0]);
_ekf.get_heading_innov(&innovations.heading_innov);
_ekf.get_airspeed_innov(&innovations.airspeed_innov);
_ekf.get_beta_innov(&innovations.beta_innov);
_ekf.get_flow_innov(&innovations.flow_innov[0]);
_ekf.get_hagl_innov(&innovations.hagl_innov);
_ekf.get_vel_pos_innov_var(&innovations.vel_pos_innov_var[0]);
_ekf.get_mag_innov_var(&innovations.mag_innov_var[0]);
_ekf.get_heading_innov_var(&innovations.heading_innov_var);
_ekf.get_airspeed_innov_var(&innovations.airspeed_innov_var);
_ekf.get_beta_innov_var(&innovations.beta_innov_var);
_ekf.get_flow_innov_var(&innovations.flow_innov_var[0]);
_ekf.get_hagl_innov_var(&innovations.hagl_innov_var);
_ekf.get_vel_pos_innov_var(&innovations.vel_pos_innov_var[0]);
_ekf.get_mag_innov_var(&innovations.mag_innov_var[0]);
_ekf.get_heading_innov_var(&innovations.heading_innov_var);
_ekf.get_airspeed_innov_var(&innovations.airspeed_innov_var);
_ekf.get_beta_innov_var(&innovations.beta_innov_var);
_ekf.get_flow_innov_var(&innovations.flow_innov_var[0]);
_ekf.get_hagl_innov_var(&innovations.hagl_innov_var);
_ekf.get_output_tracking_error(&innovations.output_tracking_error[0]);
_ekf.get_output_tracking_error(&innovations.output_tracking_error[0]);
if (_estimator_innovations_pub == nullptr) {
_estimator_innovations_pub = orb_advertise(ORB_ID(ekf2_innovations), &innovations);
if (_estimator_innovations_pub == nullptr) {
_estimator_innovations_pub = orb_advertise(ORB_ID(ekf2_innovations), &innovations);
} else {
orb_publish(ORB_ID(ekf2_innovations), _estimator_innovations_pub, &innovations);
} else {
orb_publish(ORB_ID(ekf2_innovations), _estimator_innovations_pub, &innovations);
}
}