ekf2: apply astyle formatting and enforce #23369
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src/modules/ekf2/EKF/common.h
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| bool vision_data_stopped : 1; ///< 9 - true when the vision system data has stopped for a significant time period | ||
| bool emergency_yaw_reset_mag_stopped : 1; ///< 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetometer data | ||
| bool emergency_yaw_reset_gps_yaw_stopped: 1; ///< 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data | ||
| bool gps_data_stopped_using_alternate : |
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Some of these warning flags aren't even being used, and most of the rest we can figure out from other sources.
Rather than cleaning this up I propose we get rid of these, it saves about 500 bytes of flash in message field strings.
dagar
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| @@ -85,7 +87,8 @@ bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estima | |||
| sym::ComputeMagZInnovVarAndH(state_vector, P, R_MAG, FLT_EPSILON, &aid_src.innovation_variance[index], &H); | |||
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| // recalculate innovation using the updated state | |||
| aid_src.innovation[index] = _state.quat_nominal.rotateVectorInverse(_state.mag_I)(index) + _state.mag_B(index) - mag(index); | |||
| aid_src.innovation[index] = _state.quat_nominal.rotateVectorInverse(_state.mag_I)(index) + _state.mag_B(index) - mag( | |||
| index); | |||
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that's a strange way to break a long line...
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Yes, I was going to do some manual adjusting as a follow up, splitting these long lines with readability in mind.
| @@ -281,7 +289,7 @@ struct parameters { | |||
| float initial_tilt_err{0.1f}; ///< 1-sigma tilt error after initial alignment using gravity vector (rad) | |||
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| #if defined(CONFIG_EKF2_BAROMETER) | |||
| int32_t baro_ctrl{1}; | |||
| int32_t baro_ctrl {1}; | |||
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why do we need a space here and not on the other variables?
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I don't think we do, but at the moment it's a compromise to let astyle do the rest automatically.
We could try and fix this particular little annoyance, but I don't think that should block the change for now.
https://astyle.sourceforge.net/astyle.html
| @@ -345,7 +353,7 @@ struct parameters { | |||
| float mag_heading_noise{3.0e-1f}; ///< measurement noise used for simple heading fusion (rad) | |||
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| #if defined(CONFIG_EKF2_MAGNETOMETER) | |||
| float mag_delay_ms{0.0f}; ///< magnetometer measurement delay relative to the IMU (mSec) | |||
| float mag_delay_ms {0.0f}; ///< magnetometer measurement delay relative to the IMU (mSec) | |||
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is it always the first one after a #if defined that needs an extra space?
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Newer astyle may have fixed it, I'd like to get the container updated soon and shift the default CI environment to Ubuntu 24.04 (latest LTS).
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- some of these warning flags aren't even being used, and most of the rest we can figure out from other sources
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Now that all the generated code is cleanly separated we can start enforcing astyle like the rest of the code base. There are a few areas with very long lines that astyle has kind of made a mess of, but we can get that under control.