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ekf2: fix formatting

sbg
Paul Riseborough 9 years ago committed by tumbili
parent
2db2d8f6f4
commit
371e5f70b1
2 changed files with 28 additions and 27 deletions
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  1. 23
      src/modules/ekf2/CMakeLists.txt
  2. 32
      src/modules/ekf2/ekf2_main.cpp

23
src/modules/ekf2/CMakeLists.txt
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@ -31,18 +31,19 @@ @@ -31,18 +31,19 @@
#
#############################################################################
set(MODULE_CFLAGS)
if (${OS} STREQUAL "nuttx")
list(APPEND MODULE_CFLAGS -Wframe-larger-than=4000)
endif()
px4_add_module(
MODULE modules__ekf2
MAIN ekf2
COMPILE_FLAGS ${MODULE_CFLAGS}
STACK 1000
SRCS
if ($ {OS} STREQUAL "nuttx")
list(APPEND MODULE_CFLAGS - Wframe - larger - than = 4000)
endif()
px4_add_module(
MODULE modules__ekf2
MAIN ekf2
COMPILE_FLAGS $ {MODULE_CFLAGS}
STACK 1000
SRCS
ekf2_main.cpp
DEPENDS
DEPENDS
platforms__common
git_ecl
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

32
src/modules/ekf2/ekf2_main.cpp
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@ -164,15 +164,15 @@ private: @@ -164,15 +164,15 @@ private:
control::BlockParamFloat *_gps_vel_noise;
control::BlockParamFloat *_gps_pos_noise;
control::BlockParamFloat *_pos_noaid_noise;
control::BlockParamFloat *_baro_noise;
control::BlockParamFloat *_pos_noaid_noise;
control::BlockParamFloat *_baro_noise;
control::BlockParamFloat *_baro_innov_gate; // innovation gate for barometric height innovation test (std dev)
control::BlockParamFloat *_posNE_innov_gate; // innovation gate for GPS horizontal position innovation test (std dev)
control::BlockParamFloat *_vel_innov_gate; // innovation gate for GPS velocity innovation test (std dev)
control::BlockParamFloat *_mag_heading_noise; // measurement noise used for simple heading fusion
control::BlockParamFloat *_mag_noise; // measurement noise used for 3-axis magnetoemter fusion (Gauss)
control::BlockParamFloat *_mag_declination_deg; // magnetic declination in degrees
control::BlockParamFloat *_mag_noise; // measurement noise used for 3-axis magnetoemter fusion (Gauss)
control::BlockParamFloat *_mag_declination_deg; // magnetic declination in degrees
control::BlockParamFloat *_heading_innov_gate; // innovation gate for heading innovation test
control::BlockParamFloat *_mag_innov_gate; // innovation gate for magnetometer innovation test
@ -203,26 +203,26 @@ Ekf2::Ekf2(): @@ -203,26 +203,26 @@ Ekf2::Ekf2():
_ekf(new Ekf()),
_params(_ekf->getParamHandle()),
_mag_delay_ms(new control::BlockParamFloat(this, "EKF2_MAG_DELAY", false, &_params->mag_delay_ms)),
_baro_delay_ms(new control::BlockParamFloat(this, "EKF2_BARO_DELAY", false, &_params->baro_delay_ms)),
_baro_delay_ms(new control::BlockParamFloat(this, "EKF2_BARO_DELAY", false, &_params->baro_delay_ms)),
_gps_delay_ms(new control::BlockParamFloat(this, "EKF2_GPS_DELAY", false, &_params->gps_delay_ms)),
_airspeed_delay_ms(new control::BlockParamFloat(this, "EKF2_ASP_DELAY", false, &_params->airspeed_delay_ms)),
_gyro_noise(new control::BlockParamFloat(this, "EKF2_GYR_NOISE", false, &_params->gyro_noise)),
_accel_noise(new control::BlockParamFloat(this, "EKF2_ACC_NOISE", false, &_params->accel_noise)),
_gyro_bias_p_noise(new control::BlockParamFloat(this, "EKF2_GYR_B_NOISE", false, &_params->gyro_bias_p_noise)),
_accel_bias_p_noise(new control::BlockParamFloat(this, "EKF2_ACC_B_NOISE", false, &_params->accel_bias_p_noise)),
_gyro_scale_p_noise(new control::BlockParamFloat(this, "EKF2_GYR_S_NOISE", false, &_params->gyro_scale_p_noise)),
_mag_p_noise(new control::BlockParamFloat(this, "EKF2_MAG_B_NOISE", false, &_params->mag_p_noise)),
_gyro_noise(new control::BlockParamFloat(this, "EKF2_GYR_NOISE", false, &_params->gyro_noise)),
_accel_noise(new control::BlockParamFloat(this, "EKF2_ACC_NOISE", false, &_params->accel_noise)),
_gyro_bias_p_noise(new control::BlockParamFloat(this, "EKF2_GYR_B_NOISE", false, &_params->gyro_bias_p_noise)),
_accel_bias_p_noise(new control::BlockParamFloat(this, "EKF2_ACC_B_NOISE", false, &_params->accel_bias_p_noise)),
_gyro_scale_p_noise(new control::BlockParamFloat(this, "EKF2_GYR_S_NOISE", false, &_params->gyro_scale_p_noise)),
_mag_p_noise(new control::BlockParamFloat(this, "EKF2_MAG_B_NOISE", false, &_params->mag_p_noise)),
_wind_vel_p_noise(new control::BlockParamFloat(this, "EKF2_WIND_NOISE", false, &_params->wind_vel_p_noise)),
_gps_vel_noise(new control::BlockParamFloat(this, "EKF2_GPS_V_NOISE", false, &_params->gps_vel_noise)),
_gps_pos_noise(new control::BlockParamFloat(this, "EKF2_GPS_P_NOISE", false, &_params->gps_pos_noise)),
_pos_noaid_noise(new control::BlockParamFloat(this, "EKF2_NOAID_NOISE", false, &_params->pos_noaid_noise)),
_baro_noise(new control::BlockParamFloat(this, "EKF2_BARO_NOISE", false, &_params->baro_noise)),
_pos_noaid_noise(new control::BlockParamFloat(this, "EKF2_NOAID_NOISE", false, &_params->pos_noaid_noise)),
_baro_noise(new control::BlockParamFloat(this, "EKF2_BARO_NOISE", false, &_params->baro_noise)),
_baro_innov_gate(new control::BlockParamFloat(this, "EKF2_BARO_GATE", false, &_params->baro_innov_gate)),
_posNE_innov_gate(new control::BlockParamFloat(this, "EKF2_GPS_P_GATE", false, &_params->posNE_innov_gate)),
_vel_innov_gate(new control::BlockParamFloat(this, "EKF2_GPS_V_GATE", false, &_params->vel_innov_gate)),
_mag_heading_noise(new control::BlockParamFloat(this, "EKF2_HEAD_NOISE", false, &_params->mag_heading_noise)),
_mag_noise(new control::BlockParamFloat(this, "EKF2_MAG_NOISE", false, &_params->mag_noise)),
_mag_declination_deg(new control::BlockParamFloat(this, "EKF2_MAG_DECL", false, &_params->mag_declination_deg)),
_mag_noise(new control::BlockParamFloat(this, "EKF2_MAG_NOISE", false, &_params->mag_noise)),
_mag_declination_deg(new control::BlockParamFloat(this, "EKF2_MAG_DECL", false, &_params->mag_declination_deg)),
_heading_innov_gate(new control::BlockParamFloat(this, "EKF2_HDG_GATE", false, &_params->heading_innov_gate)),
_mag_innov_gate(new control::BlockParamFloat(this, "EKF2_MAG_GATE", false, &_params->mag_innov_gate)),
_gps_check_mask(new control::BlockParamInt(this, "EKF2_GPS_CHECK", false, &_params->gps_check_mask)),
@ -232,7 +232,7 @@ Ekf2::Ekf2(): @@ -232,7 +232,7 @@ Ekf2::Ekf2():
_requiredNsats(new control::BlockParamInt(this, "EKF2_REQ_NSATS", false, &_params->req_nsats)),
_requiredGDoP(new control::BlockParamFloat(this, "EKF2_REQ_GDOP", false, &_params->req_gdop)),
_requiredHdrift(new control::BlockParamFloat(this, "EKF2_REQ_HDRIFT", false, &_params->req_hdrift)),
_requiredVdrift(new control::BlockParamFloat(this, "EKF2_REQ_VDRIFT", false, &_params->req_vdrift))
_requiredVdrift(new control::BlockParamFloat(this, "EKF2_REQ_VDRIFT", false, &_params->req_vdrift))
{
}

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