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AP_NavEKF3: White space and comment fixes

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Paul Riseborough 2021-03-22 19:53:08 +11:00 committed by Andrew Tridgell
parent 7113387d27
commit 1018801522
2 changed files with 2 additions and 2 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -1141,7 +1141,7 @@ void NavEKF3_core::CovariancePrediction(Vector3f *rotVarVecPtr)
const bool is_bias_observable = (fabsf(prevTnb[index][2]) > 0.8f) && onGround; const bool is_bias_observable = (fabsf(prevTnb[index][2]) > 0.8f) && onGround;
if (!is_bias_observable && !dvelBiasAxisInhibit[index]) { if (!is_bias_observable && !dvelBiasAxisInhibit[index]) {
// store variances to be reinstated wben learnign can commence later // store variances to be reinstated wben learning can commence later
dvelBiasAxisVarPrev[index] = P[stateIndex][stateIndex]; dvelBiasAxisVarPrev[index] = P[stateIndex][stateIndex];
dvelBiasAxisInhibit[index] = true; dvelBiasAxisInhibit[index] = true;
} else if (is_bias_observable && dvelBiasAxisInhibit[index]) { } else if (is_bias_observable && dvelBiasAxisInhibit[index]) {