From 0536be1c889fda6656496419c2b7c2b56efb5ae7 Mon Sep 17 00:00:00 2001 From: murata Date: Thu, 11 Mar 2021 06:43:50 +0900 Subject: [PATCH] AP_NavEKF: Change misnomer (NFC) --- .../AP_NavEKF/Models/AttErrVecMathExample/FuseMagnetometer.m | 4 ++-- .../AP_NavEKF/Models/AttErrVecMathExample/FuseVelocity.m | 4 ++-- .../Models/GimbalEstimatorExample/FuseMagnetometer.m | 4 ++-- .../AP_NavEKF/Models/GimbalEstimatorExample/FuseVelocity.m | 4 ++-- 4 files changed, 8 insertions(+), 8 deletions(-) diff --git a/libraries/AP_NavEKF/Models/AttErrVecMathExample/FuseMagnetometer.m b/libraries/AP_NavEKF/Models/AttErrVecMathExample/FuseMagnetometer.m index 90076d6826..9ee5fea5c9 100644 --- a/libraries/AP_NavEKF/Models/AttErrVecMathExample/FuseMagnetometer.m +++ b/libraries/AP_NavEKF/Models/AttErrVecMathExample/FuseMagnetometer.m @@ -49,8 +49,8 @@ end states(1:3) = 0; states = states - Kfusion * innovation; -% the first 3 states represent the angular misalignment vector. This is -% is used to correct the estimate quaternion +% the first 3 states represent the angular misalignment vector. +% This is used to correct the estimate quaternion % Convert the error rotation vector to its equivalent quaternion % error = truth - estimate rotationMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2); diff --git a/libraries/AP_NavEKF/Models/AttErrVecMathExample/FuseVelocity.m b/libraries/AP_NavEKF/Models/AttErrVecMathExample/FuseVelocity.m index 8f051138f6..228094b11a 100644 --- a/libraries/AP_NavEKF/Models/AttErrVecMathExample/FuseVelocity.m +++ b/libraries/AP_NavEKF/Models/AttErrVecMathExample/FuseVelocity.m @@ -37,8 +37,8 @@ for obsIndex = 1:3 % Store tilt error estimate for external monitoring angErrVec = angErrVec + states(1:3); - % the first 3 states represent the angular misalignment vector. This is - % is used to correct the estimated quaternion + % the first 3 states represent the angular misalignment vector. + % This is used to correct the estimated quaternion % Convert the error rotation vector to its equivalent quaternion % truth = estimate + error rotationMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2); diff --git a/libraries/AP_NavEKF/Models/GimbalEstimatorExample/FuseMagnetometer.m b/libraries/AP_NavEKF/Models/GimbalEstimatorExample/FuseMagnetometer.m index 5548d8c424..ccbadc1071 100644 --- a/libraries/AP_NavEKF/Models/GimbalEstimatorExample/FuseMagnetometer.m +++ b/libraries/AP_NavEKF/Models/GimbalEstimatorExample/FuseMagnetometer.m @@ -48,8 +48,8 @@ end states(1:3) = 0; states = states - Kfusion * innovation; -% the first 3 states represent the angular misalignment vector. This is -% is used to correct the estimate quaternion +% the first 3 states represent the angular misalignment vector. +% This is used to correct the estimate quaternion % Convert the error rotation vector to its equivalent quaternion % error = truth - estimate rotationMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2); diff --git a/libraries/AP_NavEKF/Models/GimbalEstimatorExample/FuseVelocity.m b/libraries/AP_NavEKF/Models/GimbalEstimatorExample/FuseVelocity.m index 4818428a5e..db0e94c9a2 100644 --- a/libraries/AP_NavEKF/Models/GimbalEstimatorExample/FuseVelocity.m +++ b/libraries/AP_NavEKF/Models/GimbalEstimatorExample/FuseVelocity.m @@ -37,8 +37,8 @@ for obsIndex = 1:3 % Store tilt error estimate for external monitoring angErrVec = angErrVec + states(1:3); - % the first 3 states represent the angular misalignment vector. This is - % is used to correct the estimated quaternion + % the first 3 states represent the angular misalignment vector. + % This is used to correct the estimated quaternion % Convert the error rotation vector to its equivalent quaternion % truth = estimate + error rotationMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2);