From aa96fa6d9e873afb8905ebb4046b258ba91214bb Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Wed, 3 Jun 2020 11:25:03 +0200
Subject: [PATCH] Random style fixes in the code

---
 EKF/estimator_interface.cpp | 1 +
 EKF/imu_down_sampler.cpp    | 1 +
 EKF/terrain_estimator.cpp   | 2 +-
 EKF/vel_pos_fusion.cpp      | 1 +
 4 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp
index 1af98abd81..cedb0a2402 100644
--- a/EKF/estimator_interface.cpp
+++ b/EKF/estimator_interface.cpp
@@ -367,6 +367,7 @@ void EstimatorInterface::setOpticalFlowData(const flowSample& flow)
 			// when there are other aiding sources available
 			const float flow_rate_magnitude = flow.flow_xy_rad.norm() / delta_time;
 			flow_magnitude_good = (flow_rate_magnitude <= _flow_max_rate);
+
 		} else {
 			// protect against overflow caused by division with very small delta_time
 			delta_time = delta_time_min;
diff --git a/EKF/imu_down_sampler.cpp b/EKF/imu_down_sampler.cpp
index f0414c4d5e..92cb11980d 100644
--- a/EKF/imu_down_sampler.cpp
+++ b/EKF/imu_down_sampler.cpp
@@ -45,6 +45,7 @@ bool ImuDownSampler::update(const imuSample &imu_sample_new) {
 		return true;
 
 	} else {
+
 		return false;
 	}
 }
diff --git a/EKF/terrain_estimator.cpp b/EKF/terrain_estimator.cpp
index e635a21271..4686a6c4df 100644
--- a/EKF/terrain_estimator.cpp
+++ b/EKF/terrain_estimator.cpp
@@ -179,7 +179,7 @@ void Ekf::fuseFlowForTerrain()
 	// calculate optical LOS rates using optical flow rates that have had the body angular rate contribution removed
 	// correct for gyro bias errors in the data used to do the motion compensation
 	// Note the sign convention used: A positive LOS rate is a RH rotation of the scene about that axis.
-	const Vector2f opt_flow_rate = Vector2f{_flow_compensated_XY_rad} / _flow_sample_delayed.dt + Vector2f{_flow_gyro_bias};
+	const Vector2f opt_flow_rate = Vector2f(_flow_compensated_XY_rad) / _flow_sample_delayed.dt + Vector2f(_flow_gyro_bias);
 
 	// get latest estimated orientation
 	const float q0 = _state.quat_nominal(0);
diff --git a/EKF/vel_pos_fusion.cpp b/EKF/vel_pos_fusion.cpp
index ea6ca5192b..4aa4b05a04 100644
--- a/EKF/vel_pos_fusion.cpp
+++ b/EKF/vel_pos_fusion.cpp
@@ -130,6 +130,7 @@ bool Ekf::fuseVerticalPosition(const Vector3f &innov, const Vector2f &innov_gate
 		fuseVelPosHeight(innov(2), innov_var(2), 5);
 
 		return true;
+
 	} else {
 		_innov_check_fail_status.flags.reject_ver_pos = true;
 		return false;