diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 36 |
1 files changed, 14 insertions, 22 deletions
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index eabef2798..fb88fa8e8 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -332,13 +332,13 @@ private: namespace estimator { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; + /* oddly, ERROR is not defined for c++ */ + #ifdef ERROR + # undef ERROR + #endif + static const int ERROR = -1; -AttitudePositionEstimatorEKF *g_estimator = nullptr; + AttitudePositionEstimatorEKF *g_estimator = nullptr; } AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() : @@ -525,16 +525,14 @@ AttitudePositionEstimatorEKF::~AttitudePositionEstimatorEKF() estimator::g_estimator = nullptr; } -int -AttitudePositionEstimatorEKF::enable_logging(bool logging) +int AttitudePositionEstimatorEKF::enable_logging(bool logging) { _ekf_logging = logging; return 0; } -int -AttitudePositionEstimatorEKF::parameters_update() +int AttitudePositionEstimatorEKF::parameters_update() { param_get(_parameter_handles.vel_delay_ms, &(_parameters.vel_delay_ms)); @@ -578,8 +576,7 @@ AttitudePositionEstimatorEKF::parameters_update() return OK; } -void -AttitudePositionEstimatorEKF::vehicle_status_poll() +void AttitudePositionEstimatorEKF::vehicle_status_poll() { bool vstatus_updated; @@ -592,8 +589,7 @@ AttitudePositionEstimatorEKF::vehicle_status_poll() } } -int -AttitudePositionEstimatorEKF::check_filter_state() +int AttitudePositionEstimatorEKF::check_filter_state() { /* * CHECK IF THE INPUT DATA IS SANE @@ -709,14 +705,12 @@ AttitudePositionEstimatorEKF::check_filter_state() return check; } -void -AttitudePositionEstimatorEKF::task_main_trampoline(int argc, char *argv[]) +void AttitudePositionEstimatorEKF::task_main_trampoline(int argc, char *argv[]) { estimator::g_estimator->task_main(); } -void -AttitudePositionEstimatorEKF::task_main() +void AttitudePositionEstimatorEKF::task_main() { _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); @@ -1637,8 +1631,7 @@ AttitudePositionEstimatorEKF::task_main() _exit(0); } -int -AttitudePositionEstimatorEKF::start() +int AttitudePositionEstimatorEKF::start() { ASSERT(_estimator_task == -1); @@ -1658,8 +1651,7 @@ AttitudePositionEstimatorEKF::start() return OK; } -void -AttitudePositionEstimatorEKF::print_status() +void AttitudePositionEstimatorEKF::print_status() { math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]); math::Matrix<3, 3> R = q.to_dcm(); |