fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-12 11:41:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: apply astyle formatting and enforce

Browse Source
This commit is contained in:
Daniel Agar
2024-07-10 10:43:55 -04:00
parent 3fe609f769
commit c29b4ff87e
36 changed files with 525 additions and 300 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp
+12 -12
View File
@@ -190,12 +190,12 @@ void Ekf::updateGnssVel(const gnssSample &gnss_sample, estimator_aid_source3d_s
const float innovation_gate = math::max(_params.gps_vel_innov_gate, 1.f);
updateAidSourceStatus(aid_src,
gnss_sample.time_us, // sample timestamp
velocity, // observation
vel_obs_var, // observation variance
_state.vel - velocity, // innovation
getVelocityVariance() + vel_obs_var, // innovation variance
innovation_gate); // innovation gate
gnss_sample.time_us, // sample timestamp
velocity, // observation
vel_obs_var, // observation variance
_state.vel - velocity, // innovation
getVelocityVariance() + vel_obs_var, // innovation variance
innovation_gate); // innovation gate
// vz special case if there is bad vertical acceleration data, then don't reject measurement if GNSS reports velocity accuracy is acceptable,
// but limit innovation to prevent spikes that could destabilise the filter
@@ -228,12 +228,12 @@ void Ekf::updateGnssPos(const gnssSample &gnss_sample, estimator_aid_source2d_s
const Vector2f pos_obs_var(pos_var, pos_var);
updateAidSourceStatus(aid_src,
gnss_sample.time_us, // sample timestamp
position, // observation
pos_obs_var, // observation variance
Vector2f(_state.pos) - position, // innovation
Vector2f(getStateVariance<State::pos>()) + pos_obs_var, // innovation variance
math::max(_params.gps_pos_innov_gate, 1.f)); // innovation gate
gnss_sample.time_us, // sample timestamp
position, // observation
pos_obs_var, // observation variance
Vector2f(_state.pos) - position, // innovation
Vector2f(getStateVariance<State::pos>()) + pos_obs_var, // innovation variance
math::max(_params.gps_pos_innov_gate, 1.f)); // innovation gate
}
void Ekf::controlGnssYawEstimator(estimator_aid_source3d_s &aid_src_vel)