From 7b898ee0011a28ee2055ea838434231e6490eba3 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 28 Oct 2020 11:32:05 +0900 Subject: [PATCH] AP_NavEKF3: minor comment and format fixes --- libraries/AP_NavEKF3/AP_NavEKF3.h | 2 +- libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp | 2 +- libraries/AP_NavEKF3/AP_NavEKF3_core.cpp | 1 - 3 files changed, 2 insertions(+), 3 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h index cc9931d158..686529eda7 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3.h +++ b/libraries/AP_NavEKF3/AP_NavEKF3.h @@ -557,7 +557,7 @@ private: uint32_t lastLaneSwitch_ms; struct { - uint32_t last_function_call; // last time getLastYawYawResetAngle was called + uint32_t last_function_call; // last time getLastYawResetAngle was called bool core_changed; // true when a core change happened and hasn't been consumed, false otherwise uint32_t last_primary_change; // last time a primary has changed float core_delta; // the amount of yaw change between cores when a change happened diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp index 33ac7b2d19..c98fbd420e 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp @@ -419,7 +419,7 @@ void NavEKF3_core::checkAttitudeAlignmentStatus() // submit yaw and magnetic field reset request if (!yawAlignComplete && tiltAlignComplete && use_compass()) { - magYawResetRequest = true; + magYawResetRequest = true; } } diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp index 0394f11cbe..74810d0f46 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp @@ -1897,7 +1897,6 @@ void NavEKF3_core::setYawFromMag() return; } - //Vector3f magMeasNED = Tbn_zeroYaw * magDataDelayed.mag; Vector3f magMeasNED = Tbn_zeroYaw * magDataDelayed.mag; float yawAngMeasured = wrap_PI(-atan2f(magMeasNED.y, magMeasNED.x) + MagDeclination());