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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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2
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]) {

2
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -1326,7 +1326,7 @@ private:
// variables used to inhibit accel bias learning // variables used to inhibit accel bias learning
bool inhibitDelVelBiasStates; // true when all IMU delta velocity bias states are de-activated bool inhibitDelVelBiasStates; // true when all IMU delta velocity bias states are de-activated
bool dvelBiasAxisInhibit[3] {}; // true when IMU delta velocity bias states for a specific axis is de-activated bool dvelBiasAxisInhibit[3] {}; // true when IMU delta velocity bias states for a specific axis is de-activated
Vector3f dvelBiasAxisVarPrev; // saved delta velocity XYZ bias variances (m/sec)**2 Vector3f dvelBiasAxisVarPrev; // saved delta velocity XYZ bias variances (m/sec)**2
#if EK3_FEATURE_EXTERNAL_NAV #if EK3_FEATURE_EXTERNAL_NAV