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AP_NavEKF2: Make EKF2 PosDownDerivative interface follow coding conventions

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Updates arising from peer review.
This commit is contained in:
Paul Riseborough 2015-10-15 16:27:40 +11:00 committed by Andrew Tridgell
parent f63c32531c
commit 47ae0f35f6
4 changed files with 7 additions and 6 deletions
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5
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -461,12 +461,13 @@ void NavEKF2::getVelNED(Vector3f &vel) const
}
// Return the rate of change of vertical position in the down diection (dPosD/dt) in m/s
void NavEKF2::getPosDownDerivative(float &ret) const
float NavEKF2::getPosDownDerivative(void) const
{
// return the value calculated from a complmentary filer applied to the EKF height and vertical acceleration
if (core) {
core->getPosDownDerivative(ret);
return core->getPosDownDerivative();
}
return 0.0f;
}
// This returns the specific forces in the NED frame

2
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -68,7 +68,7 @@ public:
// Return the rate of change of vertical position in the down diection (dPosD/dt) in m/s
// This can be different to the z component of the EKF velocity state because it will fluctuate with height errors and corrections in the EKF
// but will always be kinematically consistent with the z component of the EKF position state
void getPosDownDerivative(float &ret) const;
float getPosDownDerivative(void) const;
// This returns the specific forces in the NED frame
void getAccelNED(Vector3f &accelNED) const;

4
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -150,10 +150,10 @@ void NavEKF2_core::getVelNED(Vector3f &vel) const
}
// Return the rate of change of vertical position in the down diection (dPosD/dt) in m/s
void NavEKF2_core::getPosDownDerivative(float &ret) const
float NavEKF2_core::getPosDownDerivative(void) const
{
// return the value calculated from a complmentary filer applied to the EKF height and vertical acceleration
ret = posDownDerivative;
return posDownDerivative;
}
// This returns the specific forces in the NED frame

2
libraries/AP_NavEKF2/AP_NavEKF2_core.h
View File

@ -71,7 +71,7 @@ public:
// Return the rate of change of vertical position in the down diection (dPosD/dt) in m/s
// This can be different to the z component of the EKF velocity state because it will fluctuate with height errors and corrections in the EKF
// but will always be kinematically consistent with the z component of the EKF position state
void getPosDownDerivative(float &ret) const;
float getPosDownDerivative(void) const;
// This returns the specific forces in the NED frame
void getAccelNED(Vector3f &accelNED) const;