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fixed code style

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Roman
2016-01-09 10:51:09 +01:00
parent 8a9b27f8f3
commit 0510d2cb56
1 changed files with 12 additions and 5 deletions
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17
src/modules/ekf2/ekf2_main.cpp
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@@ -352,11 +352,13 @@ void Ekf2::task_main()
// Position of local NED origin in GPS / WGS84 frame
lpos.ref_timestamp = _ekf->_last_gps_origin_time_us; // Time when reference position was set
lpos.xy_global = _ekf->position_is_valid();// true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon)
lpos.z_global = true;// true if z is valid and has valid global reference (ref_alt)
lpos.xy_global =
_ekf->position_is_valid();// true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon)
lpos.z_global = true;// true if z is valid and has valid global reference (ref_alt)
lpos.ref_lat = _ekf->_posRef.lat_rad * (double)180.0 * M_PI; // Reference point latitude in degrees
lpos.ref_lon = _ekf->_posRef.lon_rad * (double)180.0 * M_PI; // Reference point longitude in degrees
lpos.ref_alt = _ekf->_gps_alt_ref; // Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level
lpos.ref_alt =
_ekf->_gps_alt_ref; // Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level
// The rotation of the tangent plane vs. geographical north
lpos.yaw = 0.0f;
@@ -366,7 +368,7 @@ void Ekf2::task_main()
lpos.surface_bottom_timestamp = 0; // Time when new bottom surface found
lpos.dist_bottom_valid = false; // true if distance to bottom surface is valid
// TODO: uORB definition does not define what thes variables are. We have assumed them to be horizontal and vertical 1-std dev accuracy in metres
// TODO: uORB definition does not define what thes variables are. We have assumed them to be horizontal and vertical 1-std dev accuracy in metres
// TODO: Should use sqrt of filter position variances
lpos.eph = gps.eph;
lpos.epv = gps.epv;
@@ -374,6 +376,7 @@ void Ekf2::task_main()
// publish vehicle local position data
if (_lpos_pub == nullptr) {
_lpos_pub = orb_advertise(ORB_ID(vehicle_local_position), &lpos);
} else {
orb_publish(ORB_ID(vehicle_local_position), _lpos_pub, &lpos);
}
@@ -393,6 +396,7 @@ void Ekf2::task_main()
// publish control state data
if (_control_state_pub == nullptr) {
_control_state_pub = orb_advertise(ORB_ID(control_state), &ctrl_state);
} else {
orb_publish(ORB_ID(control_state), _control_state_pub, &ctrl_state);
}
@@ -411,12 +415,14 @@ void Ekf2::task_main()
// publish vehicle attitude data
if (_att_pub == nullptr) {
_att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
} else {
orb_publish(ORB_ID(vehicle_attitude), _att_pub, &att);
}
// generate and publish global position data
struct vehicle_global_position_s global_pos;
if (_ekf->position_is_valid()) {
// TODO: local origin is currenlty at GPS height origin - this is different to ekf_att_pos_estimator
@@ -449,6 +455,7 @@ void Ekf2::task_main()
if (_vehicle_global_position_pub == nullptr) {
_vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos);
} else {
orb_publish(ORB_ID(vehicle_global_position), _vehicle_global_position_pub, &global_pos);
}
@@ -525,7 +532,7 @@ int ekf2_main(int argc, char *argv[])
if (!strcmp(argv[1], "print")) {
if (ekf2::instance != nullptr) {
return 0;
}