From 371e5f70b18c426e6cdc02857e10748a9c812398 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Thu, 4 Feb 2016 17:14:22 +1100 Subject: [PATCH] ekf2: fix formatting --- src/modules/ekf2/CMakeLists.txt | 23 ++++++++++++----------- src/modules/ekf2/ekf2_main.cpp | 32 ++++++++++++++++---------------- 2 files changed, 28 insertions(+), 27 deletions(-) diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt index 37e4f78d0b..b8a4991692 100644 --- a/src/modules/ekf2/CMakeLists.txt +++ b/src/modules/ekf2/CMakeLists.txt @@ -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 : diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index 8ee74cd207..28ac8cbb5e 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -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(): _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(): _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)) { }