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EKF: miscellaneous comment and format changes

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This commit is contained in:
Paul Riseborough
2016-03-01 15:35:45 +11:00
parent 7c83ac4b6d
commit d5e47d21db
3 changed files with 7 additions and 6 deletions
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EKF/control.cpp
+3 -3
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@@ -112,12 +112,12 @@ void Ekf::controlFusionModes()
} else {
if (_control_status.flags.in_air) {
// if transitioning from a non-3D fusion mode, we need to initialise the yaw angle and field states
// if transitioning into 3-axis fusion mode, we need to initialise the yaw angle and field states
if (!_control_status.flags.mag_3D) {
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
}
// always use 3D mag fusion when airborne
// use 3D mag fusion when airborne
_control_status.flags.mag_hdg = false;
_control_status.flags.mag_2D = false;
_control_status.flags.mag_3D = true;
@@ -143,7 +143,7 @@ void Ekf::controlFusionModes()
_control_status.flags.mag_3D = false;
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_3D) {
// if transitioning from a non-3D fusion mode, we need to initialise the yaw angle and field states
// if transitioning into 3-axis fusion mode, we need to initialise the yaw angle and field states
if (!_control_status.flags.mag_3D) {
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
}