From 4884476c096aa249fb9352f2090a8fea942099c5 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 25 Nov 2020 11:43:07 +1100 Subject: [PATCH] AP_NavEKF3: Formatting and comment fixes --- libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp | 2 +- libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp | 6 +++--- libraries/AP_NavEKF3/AP_NavEKF3_core.h | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp index 7b7f99327e..d9ae68acd4 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp @@ -452,7 +452,7 @@ void NavEKF3_core::FuseSideslip() /* * Fuse X and Y body axis specific forces using explicit algebraic equations generated with SymPy. * See AP_NavEKF3/derivation/main.py for derivation - * Output for change reference: AP_NavEKF3/derivation/generated/acc_bf_generarted.cpp + * Output for change reference: AP_NavEKF3/derivation/generated/acc_bf_generated.cpp */ void NavEKF3_core::FuseDragForces() { diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp index 93120bafcf..85311b745f 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp @@ -1368,11 +1368,11 @@ void NavEKF3_core::SampleDragData(const imu_elements &imu) const bool using_bcoef_x = bcoef_x > 1.0f; const bool using_bcoef_y = bcoef_y > 1.0f; const bool using_mcoef = mcoef > 0.001f; - if (!using_bcoef_x && !using_bcoef_y && !using_mcoef) { + if (!using_bcoef_x && !using_bcoef_y && !using_mcoef) { // nothing to do dragFusionEnabled = false; - return; - } + return; + } dragFusionEnabled = true; diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h index c4fb175562..a9d6d0cc12 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h @@ -1271,7 +1271,7 @@ private: drag_elements dragSampleDelayed; drag_elements dragDownSampled; // down sampled from filter prediction rate to observation rate uint8_t dragSampleCount; // number of drag specific force samples accumulated at the filter prediction rate - float dragSampleTimeDelta; // time integral across all samples used to form _drag_down_sampled (sec) + float dragSampleTimeDelta; // time integral across all samples used to form _drag_down_sampled (sec) Vector2f innovDrag; // multirotor drag measurement innovation (m/sec**2) Vector2f innovDragVar; // multirotor drag measurement innovation variance ((m/sec**2)**2) Vector2f dragTestRatio; // drag innovation consistency check ratio