From 1e57c4bbecf336dd1bc89497e92df1963aa46393 Mon Sep 17 00:00:00 2001 From: kamilritz Date: Thu, 19 Sep 2019 14:43:06 +0200 Subject: [PATCH] Fix white space --- EKF/common.h | 4 ++-- EKF/ekf_helper.cpp | 2 +- EKF/estimator_interface.cpp | 2 +- EKF/gps_checks.cpp | 2 +- EKF/vel_pos_fusion.cpp | 2 +- 5 files changed, 6 insertions(+), 6 deletions(-) diff --git a/EKF/common.h b/EKF/common.h index aa03949446..eca1f69da6 100644 --- a/EKF/common.h +++ b/EKF/common.h @@ -260,8 +260,8 @@ struct parameters { float pos_noaid_noise{10.0f}; ///< observation noise for non-aiding position fusion (m) float baro_noise{2.0f}; ///< observation noise for barometric height fusion (m) float baro_innov_gate{5.0f}; ///< barometric and GPS height innovation consistency gate size (STD) - float gps_pos_innov_gate{5.0f}; ///< GPS horizontal position innovation consistency gate size (STD) - float gps_vel_innov_gate{5.0f}; ///< GPS velocity innovation consistency gate size (STD) + float gps_pos_innov_gate{5.0f}; ///< GPS horizontal position innovation consistency gate size (STD) + float gps_vel_innov_gate{5.0f}; ///< GPS velocity innovation consistency gate size (STD) float gnd_effect_deadzone{5.0f}; ///< Size of deadzone applied to negative baro innovations when ground effect compensation is active (m) float gnd_effect_max_hgt{0.5f}; ///< Height above ground at which baro ground effect becomes insignificant (m) diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp index 5094b3acc4..984827f5bd 100644 --- a/EKF/ekf_helper.cpp +++ b/EKF/ekf_helper.cpp @@ -1121,7 +1121,7 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, fl bool relying_on_rangefinder = _control_status.flags.rng_hgt && !_params.range_aid; - bool relying_on_optical_flow = _control_status.flags.opt_flow && !(_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel); + bool relying_on_optical_flow = _control_status.flags.opt_flow && !(_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel); // Do not require limiting by default *vxy_max = NAN; diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp index 48325e1bc5..a82c12075f 100644 --- a/EKF/estimator_interface.cpp +++ b/EKF/estimator_interface.cpp @@ -384,7 +384,7 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl flow_magnitude_good = (flow_rate_magnitude <= _flow_max_rate); } - bool relying_on_flow = !_control_status.flags.gps && !_control_status.flags.ev_pos && !_control_status.flags.ev_vel; + bool relying_on_flow = !_control_status.flags.gps && !_control_status.flags.ev_pos && !_control_status.flags.ev_vel; // check quality metric bool flow_quality_good = (flow->quality >= _params.flow_qual_min); diff --git a/EKF/gps_checks.cpp b/EKF/gps_checks.cpp index 829f88c7fd..d0abd3c878 100644 --- a/EKF/gps_checks.cpp +++ b/EKF/gps_checks.cpp @@ -67,7 +67,7 @@ bool Ekf::collect_gps(const gps_message &gps) map_projection_init_timestamped(&_pos_ref, lat, lon, _time_last_imu); // if we are already doing aiding, correct for the change in position since the EKF started navigationg - if (_control_status.flags.opt_flow || _control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel) { + if (_control_status.flags.opt_flow || _control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel) { double est_lat, est_lon; map_projection_reproject(&_pos_ref, -_state.pos(0), -_state.pos(1), &est_lat, &est_lon); map_projection_init_timestamped(&_pos_ref, est_lat, est_lon, _time_last_imu); diff --git a/EKF/vel_pos_fusion.cpp b/EKF/vel_pos_fusion.cpp index 4d03c5b7c2..a861c6ea2d 100644 --- a/EKF/vel_pos_fusion.cpp +++ b/EKF/vel_pos_fusion.cpp @@ -152,7 +152,7 @@ void Ekf::fuseVelPosHeight() R[5] = fmaxf(_ev_sample_delayed.hgtErr, 0.01f); R[5] = R[5] * R[5]; // innovation gate size - gate_size[5] = fmaxf(_params.ev_pos_innov_gate, 1.0f); + gate_size[5] = fmaxf(_params.ev_pos_innov_gate, 1.0f); } // update innovation class variable for logging purposes