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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 21:15:41 -04:00
parent 12ad7b17ce
commit c8e6d93cc0
17 changed files with 387 additions and 241 deletions
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src/modules/ekf2/EKF/sideslip_fusion.cpp
+6 -2
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@@ -137,7 +137,8 @@ void Ekf::fuseSideslip()
_fault_status.flags.bad_sideslip = true;
// if we are getting aiding from other sources, warn and reset the wind states and covariances only
const char* action_string = nullptr;
const char *action_string = nullptr;
if (update_wind_only) {
resetWindStates();
resetWindCovariance();
@@ -148,12 +149,14 @@ void Ekf::fuseSideslip()
_state.wind_vel.setZero();
action_string = "full";
}
ECL_ERR("sideslip badly conditioned - %s covariance reset", action_string);
return;
}
_fault_status.flags.bad_sideslip = false;
const float HK52 = HK16/_beta_innov_var;
const float HK52 = HK16 / _beta_innov_var;
// Calculate predicted sideslip angle and innovation using small angle approximation
_beta_innov = rel_wind_body(1) / rel_wind_body(0);
@@ -184,6 +187,7 @@ void Ekf::fuseSideslip()
// Calculate Kalman gains
Vector24f Kfusion;
if (!update_wind_only) {
Kfusion(0) = HK38*HK52;