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ekf2: apply astyle formatting and enforce

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This commit is contained in:
Daniel Agar
2024-07-10 10:40:29 -04:00
parent 3fe609f769
commit c29b4ff87e
36 changed files with 525 additions and 300 deletions
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src/modules/ekf2/EKF/estimator_interface.cpp
+22 -10
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@@ -86,7 +86,8 @@ void EstimatorInterface::setIMUData(const imuSample &imu_sample)
_time_latest_us = imu_sample.time_us;
// the output observer always runs
_output_predictor.calculateOutputStates(imu_sample.time_us, imu_sample.delta_ang, imu_sample.delta_ang_dt, imu_sample.delta_vel, imu_sample.delta_vel_dt);
_output_predictor.calculateOutputStates(imu_sample.time_us, imu_sample.delta_ang, imu_sample.delta_ang_dt,
imu_sample.delta_vel, imu_sample.delta_vel_dt);
// accumulate and down-sample imu data and push to the buffer when new downsampled data becomes available
if (_imu_down_sampler.update(imu_sample)) {
@@ -141,7 +142,8 @@ void EstimatorInterface::setMagData(const magSample &mag_sample)
_time_last_mag_buffer_push = _time_latest_us;
} else {
ECL_WARN("mag data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _mag_buffer->get_newest().time_us, _min_obs_interval_us);
ECL_WARN("mag data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _mag_buffer->get_newest().time_us,
_min_obs_interval_us);
}
}
#endif // CONFIG_EKF2_MAGNETOMETER
@@ -179,13 +181,16 @@ void EstimatorInterface::setGpsData(const gnssSample &gnss_sample)
_time_last_gps_buffer_push = _time_latest_us;
#if defined(CONFIG_EKF2_GNSS_YAW)
if (PX4_ISFINITE(gnss_sample.yaw)) {
_time_last_gps_yaw_buffer_push = _time_latest_us;
}
#endif // CONFIG_EKF2_GNSS_YAW
} else {
ECL_WARN("GPS data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _gps_buffer->get_newest().time_us, _min_obs_interval_us);
ECL_WARN("GPS data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _gps_buffer->get_newest().time_us,
_min_obs_interval_us);
}
}
#endif // CONFIG_EKF2_GNSS
@@ -223,7 +228,8 @@ void EstimatorInterface::setBaroData(const baroSample &baro_sample)
_time_last_baro_buffer_push = _time_latest_us;
} else {
ECL_WARN("baro data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _baro_buffer->get_newest().time_us, _min_obs_interval_us);
ECL_WARN("baro data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _baro_buffer->get_newest().time_us,
_min_obs_interval_us);
}
}
#endif // CONFIG_EKF2_BAROMETER
@@ -260,7 +266,8 @@ void EstimatorInterface::setAirspeedData(const airspeedSample &airspeed_sample)
_airspeed_buffer->push(airspeed_sample_new);
} else {
ECL_WARN("airspeed data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _airspeed_buffer->get_newest().time_us, _min_obs_interval_us);
ECL_WARN("airspeed data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _airspeed_buffer->get_newest().time_us,
_min_obs_interval_us);
}
}
#endif // CONFIG_EKF2_AIRSPEED
@@ -298,7 +305,8 @@ void EstimatorInterface::setRangeData(const sensor::rangeSample &range_sample)
_time_last_range_buffer_push = _time_latest_us;
} else {
ECL_WARN("range data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _range_buffer->get_newest().time_us, _min_obs_interval_us);
ECL_WARN("range data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _range_buffer->get_newest().time_us,
_min_obs_interval_us);
}
}
#endif // CONFIG_EKF2_RANGE_FINDER
@@ -335,7 +343,8 @@ void EstimatorInterface::setOpticalFlowData(const flowSample &flow)
_flow_buffer->push(optflow_sample_new);
} else {
ECL_WARN("optical flow data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _flow_buffer->get_newest().time_us, _min_obs_interval_us);
ECL_WARN("optical flow data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _flow_buffer->get_newest().time_us,
_min_obs_interval_us);
}
}
#endif // CONFIG_EKF2_OPTICAL_FLOW
@@ -374,7 +383,8 @@ void EstimatorInterface::setExtVisionData(const extVisionSample &evdata)
_time_last_ext_vision_buffer_push = _time_latest_us;
} else {
ECL_WARN("EV data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _ext_vision_buffer->get_newest().time_us, _min_obs_interval_us);
ECL_WARN("EV data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _ext_vision_buffer->get_newest().time_us,
_min_obs_interval_us);
}
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
@@ -411,7 +421,8 @@ void EstimatorInterface::setAuxVelData(const auxVelSample &auxvel_sample)
_auxvel_buffer->push(auxvel_sample_new);
} else {
ECL_WARN("aux velocity data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _auxvel_buffer->get_newest().time_us, _min_obs_interval_us);
ECL_WARN("aux velocity data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _auxvel_buffer->get_newest().time_us,
_min_obs_interval_us);
}
}
#endif // CONFIG_EKF2_AUXVEL
@@ -446,7 +457,8 @@ void EstimatorInterface::setSystemFlagData(const systemFlagUpdate &system_flags)
_system_flag_buffer->push(system_flags_new);
} else {
ECL_DEBUG("system flag update too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _system_flag_buffer->get_newest().time_us, _min_obs_interval_us);
ECL_DEBUG("system flag update too fast %" PRIi64 " < %" PRIu64 " + %d", time_us,
_system_flag_buffer->get_newest().time_us, _min_obs_interval_us);
}
}