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ekf2: backend apply code style (generated code still exempt)

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This commit is contained in:
Daniel Agar
2021-07-15 12:46:06 -04:00
parent 12ad7b17ce
commit c8e6d93cc0
17 changed files with 387 additions and 241 deletions
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src/modules/ekf2/EKF/ekf_helper.cpp
+36 -31
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@@ -262,12 +262,14 @@ void Ekf::resetHeight()
if (_control_status.flags.rng_hgt) {
// a fallback from any other height source to rangefinder happened
if(!_control_status_prev.flags.rng_hgt) {
if (!_control_status_prev.flags.rng_hgt) {
if (_control_status.flags.in_air && isTerrainEstimateValid()) {
_hgt_sensor_offset = _terrain_vpos;
_hgt_sensor_offset = _terrain_vpos;
} else if (_control_status.flags.in_air) {
_hgt_sensor_offset = _range_sensor.getDistBottom() + _state.pos(2);
_hgt_sensor_offset = _range_sensor.getDistBottom() + _state.pos(2);
} else {
_hgt_sensor_offset = _params.rng_gnd_clearance;
}
@@ -729,6 +731,7 @@ bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, cons
// reset altitude
_gps_alt_ref = altitude;
resetVerticalPositionTo(_gps_alt_ref - current_alt);
} else {
// reset altitude
_gps_alt_ref = altitude;
@@ -1042,9 +1045,9 @@ void Ekf::uncorrelateQuatFromOtherStates()
void Ekf::update_deadreckoning_status()
{
const bool velPosAiding = (_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel)
&& (isRecent(_time_last_hor_pos_fuse, _params.no_aid_timeout_max)
|| isRecent(_time_last_hor_vel_fuse, _params.no_aid_timeout_max)
|| isRecent(_time_last_delpos_fuse, _params.no_aid_timeout_max));
&& (isRecent(_time_last_hor_pos_fuse, _params.no_aid_timeout_max)
|| isRecent(_time_last_hor_vel_fuse, _params.no_aid_timeout_max)
|| isRecent(_time_last_delpos_fuse, _params.no_aid_timeout_max));
const bool optFlowAiding = _control_status.flags.opt_flow && isRecent(_time_last_of_fuse, _params.no_aid_timeout_max);
const bool airDataAiding = _control_status.flags.wind &&
isRecent(_time_last_arsp_fuse, _params.no_aid_timeout_max) &&
@@ -1316,8 +1319,7 @@ void Ekf::updateBaroHgtOffset()
const float local_time_step = math::constrain(1e-6f * _delta_time_baro_us, 0.0f, 1.0f);
// apply a 10 second first order low pass filter to baro offset
const float offset_rate_correction = 0.1f * (_baro_sample_delayed.hgt + _state.pos(2) -
_baro_hgt_offset);
const float offset_rate_correction = 0.1f * (_baro_sample_delayed.hgt + _state.pos(2) - _baro_hgt_offset);
_baro_hgt_offset += local_time_step * math::constrain(offset_rate_correction, -0.1f, 0.1f);
}
}
@@ -1340,19 +1342,22 @@ Vector3f Ekf::getVisionVelocityInEkfFrame() const
const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body;
// rotate measurement into correct earth frame if required
switch(_ev_sample_delayed.vel_frame) {
case velocity_frame_t::BODY_FRAME_FRD:
vel = _R_to_earth * (_ev_sample_delayed.vel - vel_offset_body);
break;
case velocity_frame_t::LOCAL_FRAME_FRD:
const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;
if (_params.fusion_mode & MASK_ROTATE_EV)
{
vel = _R_ev_to_ekf *_ev_sample_delayed.vel - vel_offset_earth;
} else {
vel = _ev_sample_delayed.vel - vel_offset_earth;
}
break;
switch (_ev_sample_delayed.vel_frame) {
case velocity_frame_t::BODY_FRAME_FRD:
vel = _R_to_earth * (_ev_sample_delayed.vel - vel_offset_body);
break;
case velocity_frame_t::LOCAL_FRAME_FRD:
const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;
if (_params.fusion_mode & MASK_ROTATE_EV) {
vel = _R_ev_to_ekf * _ev_sample_delayed.vel - vel_offset_earth;
} else {
vel = _ev_sample_delayed.vel - vel_offset_earth;
}
break;
}
return vel;
@@ -1363,17 +1368,17 @@ Vector3f Ekf::getVisionVelocityVarianceInEkfFrame() const
Matrix3f ev_vel_cov = _ev_sample_delayed.velCov;
// rotate measurement into correct earth frame if required
switch(_ev_sample_delayed.vel_frame) {
case velocity_frame_t::BODY_FRAME_FRD:
ev_vel_cov = _R_to_earth * ev_vel_cov * _R_to_earth.transpose();
break;
switch (_ev_sample_delayed.vel_frame) {
case velocity_frame_t::BODY_FRAME_FRD:
ev_vel_cov = _R_to_earth * ev_vel_cov * _R_to_earth.transpose();
break;
case velocity_frame_t::LOCAL_FRAME_FRD:
if(_params.fusion_mode & MASK_ROTATE_EV)
{
ev_vel_cov = _R_ev_to_ekf * ev_vel_cov * _R_ev_to_ekf.transpose();
}
break;
case velocity_frame_t::LOCAL_FRAME_FRD:
if (_params.fusion_mode & MASK_ROTATE_EV) {
ev_vel_cov = _R_ev_to_ekf * ev_vel_cov * _R_ev_to_ekf.transpose();
}
break;
}
return ev_vel_cov.diag();