From 9ff1feb92fab154362bdb2ae9fd73665772ffbb6 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 16 Nov 2016 08:50:25 +1100 Subject: [PATCH] ekf2: fix formatting --- src/modules/ekf2/ekf2_main.cpp | 48 +++++++++++++++++----------------- 1 file changed, 24 insertions(+), 24 deletions(-) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index a95ee6a5e8..7cfdcf7d9b 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -962,31 +962,31 @@ void Ekf2::task_main() // publish estimator innovation data { - struct ekf2_innovations_s innovations = {}; - innovations.timestamp = hrt_absolute_time(); - _ekf.get_vel_pos_innov(&innovations.vel_pos_innov[0]); - _ekf.get_mag_innov(&innovations.mag_innov[0]); - _ekf.get_heading_innov(&innovations.heading_innov); - _ekf.get_airspeed_innov(&innovations.airspeed_innov); - _ekf.get_beta_innov(&innovations.beta_innov); - _ekf.get_flow_innov(&innovations.flow_innov[0]); - _ekf.get_hagl_innov(&innovations.hagl_innov); - - _ekf.get_vel_pos_innov_var(&innovations.vel_pos_innov_var[0]); - _ekf.get_mag_innov_var(&innovations.mag_innov_var[0]); - _ekf.get_heading_innov_var(&innovations.heading_innov_var); - _ekf.get_airspeed_innov_var(&innovations.airspeed_innov_var); - _ekf.get_beta_innov_var(&innovations.beta_innov_var); - _ekf.get_flow_innov_var(&innovations.flow_innov_var[0]); - _ekf.get_hagl_innov_var(&innovations.hagl_innov_var); - - _ekf.get_output_tracking_error(&innovations.output_tracking_error[0]); - - if (_estimator_innovations_pub == nullptr) { - _estimator_innovations_pub = orb_advertise(ORB_ID(ekf2_innovations), &innovations); + struct ekf2_innovations_s innovations = {}; + innovations.timestamp = hrt_absolute_time(); + _ekf.get_vel_pos_innov(&innovations.vel_pos_innov[0]); + _ekf.get_mag_innov(&innovations.mag_innov[0]); + _ekf.get_heading_innov(&innovations.heading_innov); + _ekf.get_airspeed_innov(&innovations.airspeed_innov); + _ekf.get_beta_innov(&innovations.beta_innov); + _ekf.get_flow_innov(&innovations.flow_innov[0]); + _ekf.get_hagl_innov(&innovations.hagl_innov); + + _ekf.get_vel_pos_innov_var(&innovations.vel_pos_innov_var[0]); + _ekf.get_mag_innov_var(&innovations.mag_innov_var[0]); + _ekf.get_heading_innov_var(&innovations.heading_innov_var); + _ekf.get_airspeed_innov_var(&innovations.airspeed_innov_var); + _ekf.get_beta_innov_var(&innovations.beta_innov_var); + _ekf.get_flow_innov_var(&innovations.flow_innov_var[0]); + _ekf.get_hagl_innov_var(&innovations.hagl_innov_var); + + _ekf.get_output_tracking_error(&innovations.output_tracking_error[0]); + + if (_estimator_innovations_pub == nullptr) { + _estimator_innovations_pub = orb_advertise(ORB_ID(ekf2_innovations), &innovations); - } else { - orb_publish(ORB_ID(ekf2_innovations), _estimator_innovations_pub, &innovations); + } else { + orb_publish(ORB_ID(ekf2_innovations), _estimator_innovations_pub, &innovations); } }