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AP_AHRS: minor format fixes

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This commit is contained in:
Randy Mackay 2019-02-20 12:53:28 +09:00
parent b805c40bf7
commit b202270d1a
4 changed files with 23 additions and 23 deletions
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26
libraries/AP_AHRS/AP_AHRS.h
View File

@ -52,7 +52,7 @@ class AP_AHRS
{
public:
friend class AP_AHRS_View;
// Constructor
AP_AHRS() :
_vehicle_class(AHRS_VEHICLE_UNKNOWN),
@ -130,7 +130,7 @@ public:
}
return AP_HAL::millis() - _last_flying_ms;
}
AHRS_VehicleClass get_vehicle_class(void) const {
return _vehicle_class;
}
@ -189,7 +189,7 @@ public:
virtual uint8_t get_primary_gyro_index(void) const {
return AP::ins().get_primary_gyro();
}
// accelerometer values in the earth frame in m/s/s
virtual const Vector3f &get_accel_ef(uint8_t i) const {
return _accel_ef[i];
@ -223,7 +223,7 @@ public:
virtual bool have_ekf_logging(void) const {
return false;
}
// Euler angles (radians)
float roll;
float pitch;
@ -269,7 +269,7 @@ public:
// get rotation matrix specifically from DCM backend (used for compass calibrator)
virtual const Matrix3f &get_DCM_rotation_body_to_ned(void) const = 0;
// get our current position estimate. Return true if a position is available,
// otherwise false. This call fills in lat, lng and alt
virtual bool get_position(struct Location &loc) const = 0;
@ -436,7 +436,7 @@ public:
virtual bool get_secondary_quaternion(Quaternion &quat) const {
return false;
}
// return secondary position solution if available
virtual bool get_secondary_position(struct Location &loc) const {
return false;
@ -528,7 +528,7 @@ public:
virtual bool resetHeightDatum(void) {
return false;
}
// get_variances - provides the innovations normalised using the innovation variance where a value of 0
// indicates perfect consistency between the measurement and the EKF solution and a value of of 1 is the maximum
// inconsistency that will be accepted by the filter
@ -536,7 +536,7 @@ public:
virtual bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const {
return false;
}
// time that the AHRS has been up
virtual uint32_t uptime_ms(void) const = 0;
@ -569,7 +569,7 @@ public:
// rotate a 2D vector from earth frame to body frame
// in input, x is forward, y is right
Vector2f rotate_body_to_earth2D(const Vector2f &bf) const;
virtual void update_AOA_SSA(void);
// get_hgt_ctrl_limit - get maximum height to be observed by the
@ -584,12 +584,12 @@ public:
HAL_Semaphore &get_semaphore(void) {
return _rsem;
}
protected:
// multi-thread access support
HAL_Semaphore_Recursive _rsem;
AHRS_VehicleClass _vehicle_class;
// settable parameters
@ -627,7 +627,7 @@ protected:
void calc_trig(const Matrix3f &rot,
float &cr, float &cp, float &cy,
float &sr, float &sp, float &sy) const;
// update_trig - recalculates _cos_roll, _cos_pitch, etc based on latest attitude
// should be called after _dcm_matrix is updated
void update_trig(void);

2
libraries/AP_AHRS/AP_AHRS_DCM.h
View File

@ -55,7 +55,7 @@ public:
// get rotation matrix specifically from DCM backend (used for compass calibrator)
const Matrix3f &get_DCM_rotation_body_to_ned(void) const override { return _body_dcm_matrix; }
// return the current drift correction integrator value
const Vector3f &get_gyro_drift() const override {
return _omega_I;

8
libraries/AP_AHRS/AP_AHRS_NavEKF.h
View File

@ -102,13 +102,13 @@ public:
const NavEKF3 &get_NavEKF3_const(void) const {
return EKF3;
}
// return secondary attitude solution if available, as eulers in radians
bool get_secondary_attitude(Vector3f &eulers) const override;
// return secondary attitude solution if available, as quaternion
bool get_secondary_quaternion(Quaternion &quat) const override;
// return secondary position solution if available
bool get_secondary_position(struct Location &loc) const override;
@ -216,7 +216,7 @@ public:
// send a EKF_STATUS_REPORT for current EKF
void send_ekf_status_report(mavlink_channel_t chan) const;
// get_hgt_ctrl_limit - get maximum height to be observed by the control loops in meters and a validity flag
// this is used to limit height during optical flow navigation
// it will return invalid when no limiting is required
@ -293,7 +293,7 @@ private:
// get the index of the current primary IMU
uint8_t get_primary_IMU_index(void) const;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL *_sitl;
uint32_t _last_body_odm_update_ms = 0;

10
libraries/AP_AHRS/AP_AHRS_View.h
View File

@ -115,7 +115,7 @@ public:
bool get_relative_position_NED_origin(Vector3f &vec) const {
return ahrs.get_relative_position_NED_origin(vec);
}
bool get_relative_position_NE_home(Vector2f &vecNE) const {
return ahrs.get_relative_position_NE_home(vecNE);
}
@ -123,7 +123,7 @@ public:
bool get_relative_position_NE_origin(Vector2f &vecNE) const {
return ahrs.get_relative_position_NE_origin(vecNE);
}
void get_relative_position_D_home(float &posD) const {
ahrs.get_relative_position_D_home(posD);
}
@ -131,7 +131,7 @@ public:
bool get_relative_position_D_origin(float &posD) const {
return ahrs.get_relative_position_D_origin(posD);
}
float groundspeed(void) {
return ahrs.groundspeed();
}
@ -155,7 +155,7 @@ public:
// rotate a 2D vector from earth frame to body frame
// in input, x is forward, y is right
Vector2f rotate_body_to_earth2D(const Vector2f &bf) const;
// return the average size of the roll/pitch error estimate
// since last call
float get_error_rp(void) const {
@ -167,7 +167,7 @@ public:
float get_error_yaw(void) const {
return ahrs.get_error_yaw();
}
float roll;
float pitch;
float yaw;