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PreflightCheck trivial astyle fix

This commit is contained in:
Daniel Agar 2019-01-31 09:25:08 -05:00 committed by Beat Küng
parent 6fb7cda9f2
commit 248320b328
1 changed files with 4 additions and 2 deletions
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6
src/modules/commander/PreflightCheck.cpp
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@ -576,10 +576,12 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s
// check accelerometer delta velocity bias estimates
param_get(param_find("COM_ARM_EKF_AB"), &test_limit);
for (uint8_t index=13; index<16; index++) {
for (uint8_t index = 13; index < 16; index++) {
// allow for higher uncertainty in estimates for axes that are less observable to prevent false positives
// adjust test threshold by 3-sigma
float test_uncertainty = 3.0f * sqrtf(fmaxf(status.covariances[index],0.0f));
float test_uncertainty = 3.0f * sqrtf(fmaxf(status.covariances[index], 0.0f));
if (fabsf(status.states[index]) > test_limit + test_uncertainty) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: High Accelerometer Bias");