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AP_NavEKF3: minor formatting fixes 

No functional change
This commit is contained in:
Randy Mackay 2017-03-06 14:00:56 +09:00
parent a80c0a231d
commit 3e039a6ba4
2 changed files with 15 additions and 16 deletions
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14
libraries/AP_NavEKF3/AP_NavEKF3.h
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@ -174,14 +174,14 @@ public:
// return the innovations for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance
void getInnovations(int8_t index, Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov);
void getInnovations(int8_t index, Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov);
// publish output observer angular, velocity and position tracking error
void getOutputTrackingError(int8_t instance, Vector3f &error) const;
// return the innovation consistency test ratios for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance
void getVariances(int8_t instance, float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset);
void getVariances(int8_t instance, float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset);
// should we use the compass? This is public so it can be used for
// reporting via ahrs.use_compass()
@ -194,7 +194,7 @@ public:
// The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate
// msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor.
// posOffset is the XYZ flow sensor position in the body frame in m
void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, const Vector3f &posOffset);
void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, const Vector3f &posOffset);
// return data for debugging optical flow fusion for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance
@ -242,7 +242,7 @@ public:
7 = badly conditioned synthetic sideslip fusion
7 = filter is not initialised
*/
void getFilterFaults(int8_t instance, uint16_t &faults);
void getFilterFaults(int8_t instance, uint16_t &faults);
/*
return filter timeout status as a bitmasked integer for the specified instance
@ -256,19 +256,19 @@ public:
7 = unassigned
7 = unassigned
*/
void getFilterTimeouts(int8_t instance, uint8_t &timeouts);
void getFilterTimeouts(int8_t instance, uint8_t &timeouts);
/*
return filter gps quality check status for the specified instance
An out of range instance (eg -1) returns data for the the primary instance
*/
void getFilterGpsStatus(int8_t instance, nav_gps_status &faults);
void getFilterGpsStatus(int8_t instance, nav_gps_status &faults);
/*
return filter status flags for the specified instance
An out of range instance (eg -1) returns data for the the primary instance
*/
void getFilterStatus(int8_t instance, nav_filter_status &status);
void getFilterStatus(int8_t instance, nav_filter_status &status);
// send an EKF_STATUS_REPORT message to GCS
void send_status_report(mavlink_channel_t chan);

17
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -180,10 +180,10 @@ public:
void getQuaternion(Quaternion &quat) const;
// return the innovations for the NED Pos, NED Vel, XYZ Mag and Vtas measurements
void getInnovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const;
void getInnovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const;
// return the innovation consistency test ratios for the velocity, position, magnetometer and true airspeed measurements
void getVariances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const;
void getVariances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const;
// should we use the compass? This is public so it can be used for
// reporting via ahrs.use_compass()
@ -196,7 +196,7 @@ public:
// The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate
// msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor.
// posOffset is the XYZ flow sensor position in the body frame in m
void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, const Vector3f &posOffset);
void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, const Vector3f &posOffset);
// return data for debugging optical flow fusion
void getFlowDebug(float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov, float &HAGL, float &rngInnov, float &range, float &gndOffsetErr) const;
@ -242,7 +242,7 @@ public:
7 = badly conditioned synthetic sideslip fusion
7 = filter is not initialised
*/
void getFilterFaults(uint16_t &faults) const;
void getFilterFaults(uint16_t &faults) const;
/*
return filter timeout status as a bitmasked integer
@ -255,12 +255,12 @@ public:
7 = unassigned
7 = unassigned
*/
void getFilterTimeouts(uint8_t &timeouts) const;
void getFilterTimeouts(uint8_t &timeouts) const;
/*
return filter gps quality check status
*/
void getFilterGpsStatus(nav_gps_status &status) const;
void getFilterGpsStatus(nav_gps_status &status) const;
/*
Return a filter function status that indicates:
@ -269,7 +269,7 @@ public:
If the filter has activated the mode that mitigates against ground effect static pressure errors
If GPS data is being used
*/
void getFilterStatus(nav_filter_status &status) const;
void getFilterStatus(nav_filter_status &status) const;
// send an EKF_STATUS_REPORT message to GCS
void send_status_report(mavlink_channel_t chan);
@ -445,7 +445,7 @@ private:
};
// update the navigation filter status
void updateFilterStatus(void);
void updateFilterStatus(void);
// update the quaternion, velocity and position states using IMU measurements
void UpdateStrapdownEquationsNED();
@ -1131,7 +1131,6 @@ private:
Vector9 SH_MAG;
} mag_state;
// string representing last reason for prearm failure
char prearm_fail_string[40];