EKF: code style updates

EKF/control.cpp

@@ -125,6 +125,7 @@ void Ekf::controlFusionModes()
 			if (_control_status.flags.yaw_align) {
 				_control_status.flags.gps = true;
 				_time_last_gps = _time_last_imu;
+
 				// if we are not already aiding with optical flow, then we need to reset the position and velocity
 				if (!_control_status.flags.opt_flow) {
 					_control_status.flags.gps = resetPosition();
@@ -248,9 +249,9 @@ void Ekf::controlFusionModes()
 
 	// Control the soure of height measurements for the main filter
 	if (_params.vdist_sensor_type == VDIST_SENSOR_BARO) {
-	_control_status.flags.baro_hgt = true;
-	_control_status.flags.rng_hgt = false;
-	_control_status.flags.gps_hgt = false;
+		_control_status.flags.baro_hgt = true;
+		_control_status.flags.rng_hgt = false;
+		_control_status.flags.gps_hgt = false;
 
 	} else if (_params.vdist_sensor_type == VDIST_SENSOR_RANGE) {
 		_control_status.flags.baro_hgt = false;

EKF/gps_checks.cpp

@@ -56,7 +56,7 @@
 bool Ekf::collect_gps(uint64_t time_usec, struct gps_message *gps)
 {
 	// If we have defined the WGS-84 position of the NED origin, run gps quality checks until they pass, then define the origins WGS-84 position using the last GPS fix
-	if (!_NED_origin_initialised ) {
+	if (!_NED_origin_initialised) {
 		// we have good GPS data so can now set the origin's WGS-84 position
 		if (gps_is_good(gps) && !_NED_origin_initialised) {
 			printf("gps is good -  setting EKF origin\n");
@@ -64,12 +64,14 @@ bool Ekf::collect_gps(uint64_t time_usec, struct gps_message *gps)
 			double lat = gps->lat / 1.0e7;
 			double lon = gps->lon / 1.0e7;
 			map_projection_init_timestamped(&_pos_ref, lat, lon, _time_last_imu);
+
 			// if we are already doing aiding, corect for the change in posiiton since the EKF started navigating
 			if (_control_status.flags.opt_flow || _control_status.flags.gps) {
 				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);
 			}
+
 			// Take the current GPS height and subtract the filter height above origin to estimate the GPS height of the origin
 			_gps_alt_ref = 1e-3f * (float)gps->alt + _state.pos(2);
 			_NED_origin_initialised = true;

EKF/terrain_estimator.cpp

@@ -78,7 +78,8 @@ void Ekf::predictHagl()
 	_terrain_var += sq(_imu_sample_delayed.delta_vel_dt * _params.terrain_p_noise);
 
 	// process noise due to terrain gradient
-	_terrain_var += sq(_imu_sample_delayed.delta_vel_dt * _params.terrain_gradient) * (sq(_state.vel(0)) + sq(_state.vel(1)));
+	_terrain_var += sq(_imu_sample_delayed.delta_vel_dt * _params.terrain_gradient) * (sq(_state.vel(0)) + sq(_state.vel(
+				1)));
 
 	// limit the variance to prevent it becoming badly conditioned
 	_terrain_var = math::constrain(_terrain_var, 0.0f, 1e4f);