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AP_NavEKF3: tidy formatting of is_deadreckoning

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Peter Barker 2024-08-26 14:50:22 +10:00 committed by Andrew Tridgell
parent 4782ace3b9
commit 2a6b45f4d9
1 changed files with 2 additions and 1 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
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@ -241,7 +241,8 @@ void NavEKF3_core::SelectBetaDragFusion()
bool f_timeTrigger = ((imuSampleTime_ms - prevBetaDragStep_ms) >= frontend->betaAvg_ms);
// use of air data to constrain drift is necessary if we have limited sensor data or are doing inertial dead reckoning
bool is_dead_reckoning = ((imuSampleTime_ms - lastGpsPosPassTime_ms) > frontend->deadReckonDeclare_ms) && ((imuSampleTime_ms - lastVelPassTime_ms) > frontend->deadReckonDeclare_ms);
bool is_dead_reckoning = ((imuSampleTime_ms - lastGpsPosPassTime_ms) > frontend->deadReckonDeclare_ms) &&
((imuSampleTime_ms - lastVelPassTime_ms) > frontend->deadReckonDeclare_ms);
const bool noYawSensor = !use_compass() && !using_noncompass_for_yaw();
const bool f_required = (noYawSensor && (frontend->_betaMask & (1<<1))) || is_dead_reckoning;