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EKF: code style updates

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This commit is contained in:
Paul Riseborough
2016-03-13 21:17:51 +11:00
parent c58ab3e256
commit d2407c3463
3 changed files with 9 additions and 5 deletions
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EKF/control.cpp
+4 -3
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@@ -125,6 +125,7 @@ void Ekf::controlFusionModes()
if (_control_status.flags.yaw_align) {
_control_status.flags.gps = true;
_time_last_gps = _time_last_imu;
// if we are not already aiding with optical flow, then we need to reset the position and velocity
if (!_control_status.flags.opt_flow) {
_control_status.flags.gps = resetPosition();
@@ -248,9 +249,9 @@ void Ekf::controlFusionModes()
// Control the soure of height measurements for the main filter
if (_params.vdist_sensor_type == VDIST_SENSOR_BARO) {
_control_status.flags.baro_hgt = true;
_control_status.flags.rng_hgt = false;
_control_status.flags.gps_hgt = false;
_control_status.flags.baro_hgt = true;
_control_status.flags.rng_hgt = false;
_control_status.flags.gps_hgt = false;
} else if (_params.vdist_sensor_type == VDIST_SENSOR_RANGE) {
_control_status.flags.baro_hgt = false;