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AP_NavEKF3: fixed use of tabs

This commit is contained in:
Andrew Tridgell 2020-04-11 11:44:24 +10:00
parent f68f355852
commit 1f8cd830ea
1 changed files with 6 additions and 6 deletions
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12
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -1086,15 +1086,15 @@ void NavEKF3_core::updateMovementCheck(void)
return; return;
} }
// calculate a gyro rate of change metric // calculate a gyro rate of change metric
Vector3f temp = (gyro - gyro_prev) * dtEkfAvgInv; Vector3f temp = (gyro - gyro_prev) * dtEkfAvgInv;
gyro_prev = gyro; gyro_prev = gyro;
gyro_diff = 0.99f * gyro_diff + 0.01f * temp.length(); gyro_diff = 0.99f * gyro_diff + 0.01f * temp.length();
// calculate a acceleration rate of change metric // calculate a acceleration rate of change metric
temp = (accel - accel_prev) * dtEkfAvgInv; temp = (accel - accel_prev) * dtEkfAvgInv;
accel_prev = accel; accel_prev = accel;
accel_diff = 0.99f * accel_diff + 0.01f * temp.length(); accel_diff = 0.99f * accel_diff + 0.01f * temp.length();
const float gyro_length_ratio = gyro.length() / gyro_limit; const float gyro_length_ratio = gyro.length() / gyro_limit;
const float accel_length_ratio = (accel.length() - GRAVITY_MSS) / accel_limit; const float accel_length_ratio = (accel.length() - GRAVITY_MSS) / accel_limit;