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jbrodovskyjbrodovsky
committed
corrected formatting
1 parent e39d7e1 commit dd495fc

4 files changed

Lines changed: 73 additions & 28 deletions

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‎core/src/lib.rs‎

Lines changed: 4 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1580,7 +1580,10 @@ mod tests {
15801580
fn test_velocity_update_enu_vs_ned() {
15811581
// Test that ENU and NED frames handle gravity signs differently
15821582
let state_enu = StrapdownState::default(); // is_enu = true by default
1583-
let state_ned = StrapdownState { is_enu: false, ..Default::default() };
1583+
let state_ned = StrapdownState {
1584+
is_enu: false,
1585+
..Default::default()
1586+
};
15841587

15851588
// Apply gravity-compensating specific force
15861589
let f = Vector3::new(0.0, 0.0, earth::gravity(&0.0, &0.0));

‎core/src/measurements.rs‎

Lines changed: 43 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -779,9 +779,11 @@ mod tests {
779779
// State with zero roll/pitch (level)
780780
let state = DVector::from_vec(vec![
781781
std::f64::consts::FRAC_PI_4, // lat (45 deg)
782-
-2.1293, // lon (-122 deg)
783-
100.0, // alt
784-
0.0, 0.0, 0.0, // velocities
782+
-2.1293, // lon (-122 deg)
783+
100.0, // alt
784+
0.0,
785+
0.0,
786+
0.0, // velocities
785787
0.0, // roll = 0
786788
0.0, // pitch = 0
787789
0.0, // yaw
@@ -808,7 +810,15 @@ mod tests {
808810
};
809811

810812
let state = DVector::from_vec(vec![
811-
std::f64::consts::FRAC_PI_4, -2.1293, 100.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // level attitude
813+
std::f64::consts::FRAC_PI_4,
814+
-2.1293,
815+
100.0,
816+
0.0,
817+
0.0,
818+
0.0,
819+
0.0,
820+
0.0,
821+
0.0, // level attitude
812822
]);
813823

814824
let z = meas.get_measurement(&state);
@@ -836,12 +846,29 @@ mod tests {
836846
};
837847

838848
// Level state
839-
let level_state =
840-
DVector::from_vec(vec![std::f64::consts::FRAC_PI_4, -2.1293, 100.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]);
849+
let level_state = DVector::from_vec(vec![
850+
std::f64::consts::FRAC_PI_4,
851+
-2.1293,
852+
100.0,
853+
0.0,
854+
0.0,
855+
0.0,
856+
0.0,
857+
0.0,
858+
0.0,
859+
]);
841860

842861
// Tilted state (10 degrees roll)
843862
let tilted_state = DVector::from_vec(vec![
844-
std::f64::consts::FRAC_PI_4, -2.1293, 100.0, 0.0, 0.0, 0.0, 0.1745, 0.0, 0.0, // ~10 deg roll
863+
std::f64::consts::FRAC_PI_4,
864+
-2.1293,
865+
100.0,
866+
0.0,
867+
0.0,
868+
0.0,
869+
0.1745,
870+
0.0,
871+
0.0, // ~10 deg roll
845872
]);
846873

847874
let z_level = meas.get_measurement(&level_state);
@@ -860,7 +887,15 @@ mod tests {
860887
let meas = MagnetometerYawMeasurement::default();
861888

862889
let state = DVector::from_vec(vec![
863-
std::f64::consts::FRAC_PI_4, -2.1293, 100.0, 0.0, 0.0, 0.0, 0.1, 0.2, std::f64::consts::FRAC_PI_2, // yaw = π/2
890+
std::f64::consts::FRAC_PI_4,
891+
-2.1293,
892+
100.0,
893+
0.0,
894+
0.0,
895+
0.0,
896+
0.1,
897+
0.2,
898+
std::f64::consts::FRAC_PI_2, // yaw = π/2
864899
]);
865900

866901
let expected = meas.get_expected_measurement(&state);

‎core/src/sim.rs‎

Lines changed: 25 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -4564,11 +4564,7 @@ mod tests {
45644564
fn deserialize_with_missing_trailing_columns_returns_error() {
45654565
let headers = test_header();
45664566
let time = "2023-08-04T21:47:58Z";
4567-
let row: Vec<String> = vec![
4568-
time.to_string(),
4569-
String::from("1.0"),
4570-
String::from("2.0"),
4571-
];
4567+
let row: Vec<String> = vec![time.to_string(), String::from("1.0"), String::from("2.0")];
45724568
let mut csv_data = String::new();
45734569
csv_data.push_str(&headers.join(","));
45744570
csv_data.push('\n');
@@ -4595,15 +4591,15 @@ mod tests {
45954591
let time = "2023-08-04T21:47:58Z";
45964592
let row: Vec<String> = vec![
45974593
time.to_string(),
4598-
String::new(), // bearingAccuracy
4599-
String::new(), // speedAccuracy
4600-
String::new(), // verticalAccuracy
4601-
String::new(), // horizontalAccuracy
4602-
String::new(), // speed
4603-
String::new(), // bearing
4604-
String::new(), // altitude
4594+
String::new(), // bearingAccuracy
4595+
String::new(), // speedAccuracy
4596+
String::new(), // verticalAccuracy
4597+
String::new(), // horizontalAccuracy
4598+
String::new(), // speed
4599+
String::new(), // bearing
4600+
String::new(), // altitude
46054601
String::from("-122.0"), // longitude
4606-
String::from("37.0"), // latitude
4602+
String::from("37.0"), // latitude
46074603
];
46084604
let mut csv_data = String::new();
46094605
csv_data.push_str(&headers.join(","));
@@ -4999,7 +4995,10 @@ mod tests {
49994995

50004996
#[test]
50014997
fn test_health_monitor_check_altitude_out_of_range() {
5002-
let limits = HealthLimits { alt_m: (-100.0, 10000.0), ..Default::default() };
4998+
let limits = HealthLimits {
4999+
alt_m: (-100.0, 10000.0),
5000+
..Default::default()
5001+
};
50035002
let mut monitor = HealthMonitor::new(limits);
50045003

50055004
let state = vec![
@@ -5057,7 +5056,11 @@ mod tests {
50575056

50585057
#[test]
50595058
fn test_health_monitor_check_nis_exceeds_threshold() {
5060-
let limits = HealthLimits { nis_pos_max: 10.0, nis_pos_consec_fail: 3, ..Default::default() };
5059+
let limits = HealthLimits {
5060+
nis_pos_max: 10.0,
5061+
nis_pos_consec_fail: 3,
5062+
..Default::default()
5063+
};
50615064
let mut monitor = HealthMonitor::new(limits);
50625065

50635066
let state = vec![
@@ -5075,7 +5078,11 @@ mod tests {
50755078

50765079
#[test]
50775080
fn test_health_monitor_check_nis_reset_on_pass() {
5078-
let limits = HealthLimits { nis_pos_max: 10.0, nis_pos_consec_fail: 3, ..Default::default() };
5081+
let limits = HealthLimits {
5082+
nis_pos_max: 10.0,
5083+
nis_pos_consec_fail: 3,
5084+
..Default::default()
5085+
};
50795086
let mut monitor = HealthMonitor::new(limits);
50805087

50815088
let state = vec![
@@ -5332,8 +5339,8 @@ mod tests {
53325339
fn test_navigation_result_from_strapdown_state_with_rotation() {
53335340
let timestamp = Utc::now();
53345341
let state = StrapdownState {
5335-
latitude: 0.5, // radians
5336-
longitude: 1.0, // radians
5342+
latitude: 0.5, // radians
5343+
longitude: 1.0, // radians
53375344
altitude: 500.0,
53385345
velocity_north: 10.0,
53395346
velocity_east: 5.0,

‎geonav/src/lib.rs‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1527,7 +1527,7 @@ mod tests {
15271527
latitude: 40.5 + (i as f64) * 0.001, // Small movement
15281528
longitude: -73.5 + (i as f64) * 0.001,
15291529
altitude: 100.0 + (i as f64) * 0.1,
1530-
speed: 5.0, // 5 m/s
1530+
speed: 5.0, // 5 m/s
15311531
bearing: 45.0, // 45 degrees
15321532
acc_x: 0.1,
15331533
acc_y: 0.1,

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