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replace camel case by snake case.

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Co-Authored-By: EliaTarasov <elias.tarasov@gmail.com>
This commit is contained in:
Matthias Grob
2019-03-08 18:12:58 +03:00
committed by Roman Bapst
parent 84d9820baa
commit aa36fa2dfd
3 changed files with 22 additions and 20 deletions
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src/modules/ekf2/ekf2_main.cpp
+17 -15
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@@ -252,17 +252,17 @@ private:
uint64_t _gps_alttitude_ellipsoid_previous_timestamp[GPS_MAX_RECEIVERS] {}; ///< storage for previous timestamp to compute dt
float _wgs84_hgt_offset = 0; ///< height offset between AMSL and WGS84
int _airdata_sub{-1};
int _airspeed_sub{-1};
int _ev_odom_sub{-1};
int _landing_target_pose_sub{-1};
int _magnetometer_sub{-1};
int _optical_flow_sub{-1};
int _params_sub{-1};
int _sensor_selection_sub{-1};
int _sensors_sub{-1};
int _status_sub{-1};
int _vehicle_land_detected_sub{-1};
int _airdata_sub{ -1};
int _airspeed_sub{ -1};
int _ev_odom_sub{ -1};
int _landing_target_pose_sub{ -1};
int _magnetometer_sub{ -1};
int _optical_flow_sub{ -1};
int _params_sub{ -1};
int _sensor_selection_sub{ -1};
int _sensors_sub{ -1};
int _status_sub{ -1};
int _vehicle_land_detected_sub{ -1};
// because we can have several distance sensor instances with different orientations
int _range_finder_subs[ORB_MULTI_MAX_INSTANCES] {};
@@ -270,7 +270,7 @@ private:
// because we can have multiple GPS instances
int _gps_subs[GPS_MAX_RECEIVERS] {};
int _gps_orb_instance{-1};
int _gps_orb_instance{ -1};
orb_advert_t _att_pub{nullptr};
orb_advert_t _wind_pub{nullptr};
@@ -1253,8 +1253,10 @@ void Ekf2::run()
if (vehicle_land_detected_updated) {
if (orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &vehicle_land_detected) == PX4_OK) {
_ekf.set_in_air_status(!vehicle_land_detected.landed);
if(_gnd_effect_deadzone.get() > 0.0f)
_ekf.set_gnd_effect_flag(vehicle_land_detected.in_ground_effect);
if (_gnd_effect_deadzone.get() > 0.0f) {
_ekf.set_gnd_effect_flag(vehicle_land_detected.in_ground_effect);
}
}
}
@@ -1269,7 +1271,7 @@ void Ekf2::run()
// we can only use the landing target if it has a fixed position and a valid velocity estimate
if (landing_target_pose.is_static && landing_target_pose.rel_vel_valid) {
// velocity of vehicle relative to target has opposite sign to target relative to vehicle
float velocity[2] = {-landing_target_pose.vx_rel, -landing_target_pose.vy_rel};
float velocity[2] = { -landing_target_pose.vx_rel, -landing_target_pose.vy_rel};
float variance[2] = {landing_target_pose.cov_vx_rel, landing_target_pose.cov_vy_rel};
_ekf.setAuxVelData(landing_target_pose.timestamp, velocity, variance);
}