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EKF: code style updates

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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/terrain_estimator.cpp
+2 -1
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@@ -78,7 +78,8 @@ void Ekf::predictHagl()
_terrain_var += sq(_imu_sample_delayed.delta_vel_dt * _params.terrain_p_noise);
// process noise due to terrain gradient
_terrain_var += sq(_imu_sample_delayed.delta_vel_dt * _params.terrain_gradient) * (sq(_state.vel(0)) + sq(_state.vel(1)));
_terrain_var += sq(_imu_sample_delayed.delta_vel_dt * _params.terrain_gradient) * (sq(_state.vel(0)) + sq(_state.vel(
1)));
// limit the variance to prevent it becoming badly conditioned
_terrain_var = math::constrain(_terrain_var, 0.0f, 1e4f);