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EKF: Fix code style

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This commit is contained in:
Paul Riseborough
2016-02-25 08:17:50 +11:00
parent 5b5bddebea
commit f55a0bff53
6 changed files with 152 additions and 142 deletions
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EKF/geo.cpp
+13 -13
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@@ -211,13 +211,13 @@ uint64_t map_projection_timestamp(const struct map_projection_reference_s *ref)
}
int map_projection_global_init(double lat_0, double lon_0,
uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
{
return map_projection_init_timestamped(&mp_ref, lat_0, lon_0, timestamp);
}
int map_projection_init_timestamped(struct map_projection_reference_s *ref, double lat_0, double lon_0,
uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
{
ref->lat_rad = lat_0 * M_DEG_TO_RAD;
@@ -237,7 +237,7 @@ int map_projection_global_reference(double *ref_lat_rad, double *ref_lon_rad)
}
int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat_rad,
double *ref_lon_rad)
double *ref_lon_rad)
{
if (!map_projection_initialized(ref)) {
return -1;
@@ -256,7 +256,7 @@ int map_projection_global_project(double lat, double lon, float *x, float *y)
}
int map_projection_project(const struct map_projection_reference_s *ref, double lat, double lon, float *x,
float *y)
float *y)
{
if (!map_projection_initialized(ref)) {
return -1;
@@ -293,7 +293,7 @@ int map_projection_global_reproject(float x, float y, double *lat, double *lon)
}
int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat,
double *lon)
double *lon)
{
if (!map_projection_initialized(ref)) {
return -1;
@@ -419,7 +419,7 @@ float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_n
}
void create_waypoint_from_line_and_dist(double lat_A, double lon_A, double lat_B, double lon_B, float dist,
double *lat_target, double *lon_target)
double *lat_target, double *lon_target)
{
if (fabsf(dist) < FLT_EPSILON) {
*lat_target = lat_A;
@@ -437,7 +437,7 @@ void create_waypoint_from_line_and_dist(double lat_A, double lon_A, double lat_B
}
void waypoint_from_heading_and_distance(double lat_start, double lon_start, float bearing, float dist,
double *lat_target, double *lon_target)
double *lat_target, double *lon_target)
{
bearing = _wrap_2pi(bearing);
double radius_ratio = (double)(fabs(dist) / CONSTANTS_RADIUS_OF_EARTH);
@@ -472,7 +472,7 @@ float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_ne
}
void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n,
float *v_e)
float *v_e)
{
double lat_now_rad = lat_now * M_DEG_TO_RAD;
double lon_now_rad = lon_now * M_DEG_TO_RAD;
@@ -488,7 +488,7 @@ void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next
}
void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next,
float *v_n, float *v_e)
float *v_n, float *v_e)
{
double lat_now_rad = lat_now * M_DEG_TO_RAD;
double lon_now_rad = lon_now * M_DEG_TO_RAD;
@@ -504,7 +504,7 @@ void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat
}
void add_vector_to_global_position(double lat_now, double lon_now, float v_n, float v_e, double *lat_res,
double *lon_res)
double *lon_res)
{
double lat_now_rad = lat_now * M_DEG_TO_RAD;
double lon_now_rad = lon_now * M_DEG_TO_RAD;
@@ -516,7 +516,7 @@ void add_vector_to_global_position(double lat_now, double lon_now, float v_n, fl
// Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now,
double lat_start, double lon_start, double lat_end, double lon_end)
double lat_start, double lon_start, double lat_end, double lon_end)
{
// This function returns the distance to the nearest point on the track line. Distance is positive if current
// position is right of the track and negative if left of the track as seen from a point on the track line
@@ -568,8 +568,8 @@ int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, double lat
int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now,
double lat_center, double lon_center,
float radius, float arc_start_bearing, float arc_sweep)
double lat_center, double lon_center,
float radius, float arc_start_bearing, float arc_sweep)
{
// This function returns the distance to the nearest point on the track arc. Distance is positive if current
// position is right of the arc and negative if left of the arc as seen from the closest point on the arc and