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Terrain estimator: formatting and remove redundant comments

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bresch
2019-10-22 20:19:56 +11:00
committed by Paul Riseborough
parent 0aef0eda59
commit b38458c2ab
5 changed files with 40 additions and 60 deletions
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EKF/ekf_helper.cpp
+1 -1
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@@ -1213,7 +1213,7 @@ void Ekf::get_ekf_soln_status(uint16_t *status)
soln_status.flags.pos_horiz_rel = (_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.opt_flow) && (_fault_status.value == 0);
soln_status.flags.pos_horiz_abs = (_control_status.flags.gps || _control_status.flags.ev_pos) && (_fault_status.value == 0);
soln_status.flags.pos_vert_abs = soln_status.flags.velocity_vert;
soln_status.flags.pos_vert_agl = get_terrain_valid();
soln_status.flags.pos_vert_agl = isTerrainEstimateValid();
soln_status.flags.const_pos_mode = !soln_status.flags.velocity_horiz;
soln_status.flags.pred_pos_horiz_rel = soln_status.flags.pos_horiz_rel;
soln_status.flags.pred_pos_horiz_abs = soln_status.flags.pos_horiz_abs;