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EKF: fix code style

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This commit is contained in:
bugobliterator
2016-01-31 00:12:16 -08:00
parent 8200ef4d17
commit d79e12dfa1
11 changed files with 864 additions and 827 deletions
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EKF/ekf_helper.cpp
+4 -4
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@@ -158,7 +158,7 @@ void Ekf::constrainStates()
_state.mag_B(i) = math::constrain(_state.mag_B(i), -0.5f, 0.5f);
}
for (int i = 0; i < 2; i++) {
for (int i = 0; i < 2; i++) {
_state.wind_vel(i) = math::constrain(_state.wind_vel(i), -100.0f, 100.0f);
}
}
@@ -258,7 +258,7 @@ void Ekf::get_covariances(float *covariances)
// get the position and height of the ekf origin in WGS-84 coordinates and time the origin was set
void Ekf::get_ekf_origin(uint64_t *origin_time, map_projection_reference_s *origin_pos, float *origin_alt)
{
memcpy(origin_time, &_last_gps_origin_time_us, sizeof(uint64_t));
memcpy(origin_pos, &_pos_ref, sizeof(map_projection_reference_s));
memcpy(origin_alt, &_gps_alt_ref, sizeof(float));
memcpy(origin_time, &_last_gps_origin_time_us, sizeof(uint64_t));
memcpy(origin_pos, &_pos_ref, sizeof(map_projection_reference_s));
memcpy(origin_alt, &_gps_alt_ref, sizeof(float));
}