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AP_AHRS: Change indentation. 

AP_AHRS: Delete inserted message "no break"
This commit is contained in:
murata 2016-12-23 07:47:46 +09:00 committed by Randy Mackay
parent f747716172
commit 4c320373eb
1 changed files with 41 additions and 41 deletions
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82
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -428,7 +428,7 @@ bool AP_AHRS_NavEKF::use_compass(void)
bool AP_AHRS_NavEKF::get_secondary_attitude(Vector3f &eulers)
{
switch (active_EKF_type()) {
case EKF_TYPE_NONE:
case EKF_TYPE_NONE:
// EKF is secondary
EKF2.getEulerAngles(-1, eulers);
return ekf2_started;
@ -438,9 +438,9 @@ bool AP_AHRS_NavEKF::get_secondary_attitude(Vector3f &eulers)
case EKF_TYPE3:
default:
// DCM is secondary
eulers = _dcm_attitude;
return true;
// DCM is secondary
eulers = _dcm_attitude;
return true;
}
}
@ -507,23 +507,23 @@ bool AP_AHRS_NavEKF::have_inertial_nav(void) const
bool AP_AHRS_NavEKF::get_velocity_NED(Vector3f &vec) const
{
switch (active_EKF_type()) {
case EKF_TYPE_NONE:
return false;
case EKF_TYPE_NONE:
return false;
case EKF_TYPE2:
default:
EKF2.getVelNED(-1,vec);
return true;
case EKF_TYPE2:
default:
EKF2.getVelNED(-1,vec);
return true;
case EKF_TYPE3:
EKF3.getVelNED(-1,vec);
return true;
case EKF_TYPE3:
EKF3.getVelNED(-1,vec);
return true;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
case EKF_TYPE_SITL:
const struct SITL::sitl_fdm &fdm = _sitl->state;
vec = Vector3f(fdm.speedN, fdm.speedE, fdm.speedD);
return true;
case EKF_TYPE_SITL:
const struct SITL::sitl_fdm &fdm = _sitl->state;
vec = Vector3f(fdm.speedN, fdm.speedE, fdm.speedD);
return true;
#endif
}
}
@ -532,21 +532,21 @@ bool AP_AHRS_NavEKF::get_velocity_NED(Vector3f &vec) const
bool AP_AHRS_NavEKF::get_mag_field_NED(Vector3f &vec) const
{
switch (active_EKF_type()) {
case EKF_TYPE_NONE:
return false;
case EKF_TYPE_NONE:
return false;
case EKF_TYPE2:
default:
EKF2.getMagNED(-1,vec);
return true;
case EKF_TYPE2:
default:
EKF2.getMagNED(-1,vec);
return true;
case EKF_TYPE3:
EKF3.getMagNED(-1,vec);
return true;
case EKF_TYPE3:
EKF3.getMagNED(-1,vec);
return true;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
case EKF_TYPE_SITL:
return false;
case EKF_TYPE_SITL:
return false;
#endif
}
}
@ -555,22 +555,22 @@ bool AP_AHRS_NavEKF::get_mag_field_NED(Vector3f &vec) const
bool AP_AHRS_NavEKF::get_mag_field_correction(Vector3f &vec) const
{
switch (active_EKF_type()) {
case EKF_TYPE_NONE:
return false;
case EKF_TYPE_NONE:
return false;
case EKF_TYPE2:
default:
EKF2.getMagXYZ(-1,vec);
return true;
case EKF_TYPE2:
default:
EKF2.getMagXYZ(-1,vec);
return true;
case EKF_TYPE3:
EKF3.getMagXYZ(-1,vec);
return true;
case EKF_TYPE3:
EKF3.getMagXYZ(-1,vec);
return true;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
case EKF_TYPE_SITL:
return false;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
case EKF_TYPE_SITL:
return false;
#endif
}
}