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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/ekf.cpp
+3 -2
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@@ -115,11 +115,11 @@ bool Ekf::init(uint64_t timestamp)
_output_new.vel.setZero();
_output_new.pos.setZero();
_output_new.quat_nominal = matrix::Quaternion<float>();
_delta_angle_corr.setZero();
_delta_vel_corr.setZero();
_vel_corr.setZero();
_imu_down_sampled.delta_ang.setZero();
_imu_down_sampled.delta_vel.setZero();
_imu_down_sampled.delta_ang_dt = 0.0f;
@@ -180,6 +180,7 @@ bool Ekf::update()
fuseMag2D();
} else if (_control_status.flags.mag_hdg && _control_status.flags.yaw_align) {
// fusion of a Euler yaw angle from either a 321 or 312 rotation sequence
fuseHeading();
} else {