From b21a49b3f9b7267663fd79a92f50c2db78eae762 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 31 Jan 2016 23:24:36 +0100 Subject: [PATCH] EKF: Use standard C++ initializers --- EKF/ekf.cpp | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp index 36985e4543..92977b3da1 100644 --- a/EKF/ekf.cpp +++ b/EKF/ekf.cpp @@ -310,11 +310,11 @@ bool Ekf::collect_imu(imuSample &imu) // store the new sample for the complementary filter prediciton _imu_sample_new = { - delta_ang : imu.delta_ang, - delta_vel : imu.delta_vel, - delta_ang_dt : imu.delta_ang_dt, - delta_vel_dt : imu.delta_vel_dt, - time_us : imu.time_us + .delta_ang = imu.delta_ang, + .delta_vel = imu.delta_vel, + .delta_ang_dt = imu.delta_ang_dt, + .delta_vel_dt = imu.delta_vel_dt, + .time_us = imu.time_us }; _imu_down_sampled.delta_ang_dt += imu.delta_ang_dt; @@ -333,11 +333,11 @@ bool Ekf::collect_imu(imuSample &imu) if ((_dt_imu_avg * _imu_ticks >= (float)(FILTER_UPDATE_PERRIOD_MS) / 1000) || _dt_imu_avg * _imu_ticks >= 0.02f){ imu = { - delta_ang : _q_down_sampled.to_axis_angle(), - delta_vel : _imu_down_sampled.delta_vel, - delta_ang_dt : _imu_down_sampled.delta_ang_dt, - delta_vel_dt : _imu_down_sampled.delta_vel_dt, - time_us : imu.time_us + .delta_ang = _q_down_sampled.to_axis_angle(), + .delta_vel = _imu_down_sampled.delta_vel, + .delta_ang_dt = _imu_down_sampled.delta_ang_dt, + .delta_vel_dt = _imu_down_sampled.delta_vel_dt, + .time_us = imu.time_us }; _imu_down_sampled.delta_ang.setZero(); _imu_down_sampled.delta_vel.setZero();