From acf693636a4e1e85e9266564c884d2b010af369e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 6 Dec 2023 17:27:43 +0100 Subject: [PATCH] auto-formatting --- mission/controller/acs/AcsParameters.h | 4 ++-- mission/controller/acs/MultiplicativeKalmanFilter.cpp | 5 +++-- mission/controller/acs/MultiplicativeKalmanFilter.h | 8 ++++---- mission/controller/acs/Navigation.h | 4 ++-- mission/controller/acs/control/Detumble.cpp | 6 +++--- mission/controller/acs/control/Detumble.h | 4 ++-- mission/controller/acs/control/SafeCtrl.cpp | 10 ++++------ mission/controller/acs/control/SafeCtrl.h | 7 ++++--- 8 files changed, 24 insertions(+), 24 deletions(-) diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h index 80269d55..f11a673b 100644 --- a/mission/controller/acs/AcsParameters.h +++ b/mission/controller/acs/AcsParameters.h @@ -791,8 +791,8 @@ class AcsParameters : public HasParametersIF { /* var = sigma^2, sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is * assumed to be equal for the same class of sensors */ double gyr02variance[3] = {pow(4.6e-3, 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms - pow(4.6e-3, 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms - pow(6.1e-3, 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms + pow(4.6e-3, 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms + pow(6.1e-3, 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms double gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)}; uint8_t preferAdis = false; float gyrFilterWeight = 0.6; diff --git a/mission/controller/acs/MultiplicativeKalmanFilter.cpp b/mission/controller/acs/MultiplicativeKalmanFilter.cpp index 52acc7ee..ba878034 100644 --- a/mission/controller/acs/MultiplicativeKalmanFilter.cpp +++ b/mission/controller/acs/MultiplicativeKalmanFilter.cpp @@ -1115,8 +1115,9 @@ void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::AttitudeEstim } } -void MultiplicativeKalmanFilter::updateDataSet(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus, - double quat[4], double satRotRate[3]) { +void MultiplicativeKalmanFilter::updateDataSet(acsctrl::AttitudeEstimationData *mekfData, + MekfStatus mekfStatus, double quat[4], + double satRotRate[3]) { { PoolReadGuard pg(mekfData); if (pg.getReadResult() == returnvalue::OK) { diff --git a/mission/controller/acs/MultiplicativeKalmanFilter.h b/mission/controller/acs/MultiplicativeKalmanFilter.h index bd722115..09fad744 100644 --- a/mission/controller/acs/MultiplicativeKalmanFilter.h +++ b/mission/controller/acs/MultiplicativeKalmanFilter.h @@ -32,8 +32,8 @@ class MultiplicativeKalmanFilter { */ ReturnValue_t init(const double *magneticField_, const bool validMagField_, const double *sunDir_, const bool validSS, const double *sunDirJ, const bool validSSModel, - const double *magFieldJ, const bool validMagModel, acsctrl::AttitudeEstimationData *mekfData, - AcsParameters *acsParameters); + const double *magFieldJ, const bool validMagModel, + acsctrl::AttitudeEstimationData *mekfData, AcsParameters *acsParameters); /* @brief: mekfEst() - This function calculates the quaternion and gyro bias of the Kalman Filter * for the current step after the initalization @@ -100,8 +100,8 @@ class MultiplicativeKalmanFilter { /*Parameter INIT*/ /*Functions*/ void updateDataSetWithoutData(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus); - void updateDataSet(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus, double quat[4], - double satRotRate[3]); + void updateDataSet(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus, + double quat[4], double satRotRate[3]); }; #endif /* ACS_MULTIPLICATIVEKALMANFILTER_H_ */ diff --git a/mission/controller/acs/Navigation.h b/mission/controller/acs/Navigation.h index 4f58b197..9f29c4f2 100644 --- a/mission/controller/acs/Navigation.h +++ b/mission/controller/acs/Navigation.h @@ -17,8 +17,8 @@ class Navigation { ReturnValue_t useMekf(ACS::SensorValues *sensorValues, acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed, - acsctrl::SusDataProcessed *susDataProcessed, acsctrl::AttitudeEstimationData *mekfData, - AcsParameters *acsParameters); + acsctrl::SusDataProcessed *susDataProcessed, + acsctrl::AttitudeEstimationData *mekfData, AcsParameters *acsParameters); void resetMekf(acsctrl::AttitudeEstimationData *mekfData); ReturnValue_t useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed); diff --git a/mission/controller/acs/control/Detumble.cpp b/mission/controller/acs/control/Detumble.cpp index 754843f8..408c30e1 100644 --- a/mission/controller/acs/control/Detumble.cpp +++ b/mission/controller/acs/control/Detumble.cpp @@ -8,9 +8,9 @@ Detumble::Detumble() {} Detumble::~Detumble() {} acs::ControlModeStrategy Detumble::detumbleStrategy(const bool magFieldValid, - const bool satRotRateValid, - const bool magFieldRateValid, - const bool useFullDetumbleLaw) { + const bool satRotRateValid, + const bool magFieldRateValid, + const bool useFullDetumbleLaw) { if (not magFieldValid) { return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL; } else if (satRotRateValid and useFullDetumbleLaw) { diff --git a/mission/controller/acs/control/Detumble.h b/mission/controller/acs/control/Detumble.h index 476766c3..851e4541 100644 --- a/mission/controller/acs/control/Detumble.h +++ b/mission/controller/acs/control/Detumble.h @@ -12,8 +12,8 @@ class Detumble { virtual ~Detumble(); acs::ControlModeStrategy detumbleStrategy(const bool magFieldValid, const bool satRotRateValid, - const bool magFieldRateValid, - const bool useFullDetumbleLaw); + const bool magFieldRateValid, + const bool useFullDetumbleLaw); void bDotLawFull(const double *satRotRateB, const double *magFieldB, double *magMomB, double gain); diff --git a/mission/controller/acs/control/SafeCtrl.cpp b/mission/controller/acs/control/SafeCtrl.cpp index b1699aef..972b7b92 100644 --- a/mission/controller/acs/control/SafeCtrl.cpp +++ b/mission/controller/acs/control/SafeCtrl.cpp @@ -9,12 +9,10 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter SafeCtrl::~SafeCtrl() {} -acs::ControlModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid, - const bool satRotRateValid, const bool sunDirValid, - const bool fusedRateTotalValid, - const uint8_t mekfEnabled, - const uint8_t gyrEnabled, - const uint8_t dampingEnabled) { +acs::ControlModeStrategy SafeCtrl::safeCtrlStrategy( + const bool magFieldValid, const bool mekfValid, const bool satRotRateValid, + const bool sunDirValid, const bool fusedRateTotalValid, const uint8_t mekfEnabled, + const uint8_t gyrEnabled, const uint8_t dampingEnabled) { if (not magFieldValid) { return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL; } else if (mekfEnabled and mekfValid) { diff --git a/mission/controller/acs/control/SafeCtrl.h b/mission/controller/acs/control/SafeCtrl.h index 1c38d81d..e303f302 100644 --- a/mission/controller/acs/control/SafeCtrl.h +++ b/mission/controller/acs/control/SafeCtrl.h @@ -13,9 +13,10 @@ class SafeCtrl { virtual ~SafeCtrl(); acs::ControlModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid, - const bool satRotRateValid, const bool sunDirValid, - const bool fusedRateTotalValid, const uint8_t mekfEnabled, - const uint8_t gyrEnabled, const uint8_t dampingEnabled); + const bool satRotRateValid, const bool sunDirValid, + const bool fusedRateTotalValid, + const uint8_t mekfEnabled, const uint8_t gyrEnabled, + const uint8_t dampingEnabled); void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI, const double *quatBI, const double *sunDirRefB, double *magMomB,