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AP_NavEKF: Change misnomer (NFC)

This commit is contained in:
murata 2021-03-11 06:43:50 +09:00 committed by Peter Barker
parent a5b6ce9220
commit 0536be1c88
4 changed files with 8 additions and 8 deletions
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4
libraries/AP_NavEKF/Models/AttErrVecMathExample/FuseMagnetometer.m
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@ -49,8 +49,8 @@ end
states(1:3) = 0; states(1:3) = 0;
states = states - Kfusion * innovation; states = states - Kfusion * innovation;
% the first 3 states represent the angular misalignment vector. This is % the first 3 states represent the angular misalignment vector.
% is used to correct the estimate quaternion % This is used to correct the estimate quaternion
% Convert the error rotation vector to its equivalent quaternion % Convert the error rotation vector to its equivalent quaternion
% error = truth - estimate % error = truth - estimate
rotationMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2); rotationMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2);

4
libraries/AP_NavEKF/Models/AttErrVecMathExample/FuseVelocity.m
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@ -37,8 +37,8 @@ for obsIndex = 1:3
% Store tilt error estimate for external monitoring % Store tilt error estimate for external monitoring
angErrVec = angErrVec + states(1:3); angErrVec = angErrVec + states(1:3);
% the first 3 states represent the angular misalignment vector. This is % the first 3 states represent the angular misalignment vector.
% is used to correct the estimated quaternion % This is used to correct the estimated quaternion
% Convert the error rotation vector to its equivalent quaternion % Convert the error rotation vector to its equivalent quaternion
% truth = estimate + error % truth = estimate + error
rotationMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2); rotationMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2);

4
libraries/AP_NavEKF/Models/GimbalEstimatorExample/FuseMagnetometer.m
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@ -48,8 +48,8 @@ end
states(1:3) = 0; states(1:3) = 0;
states = states - Kfusion * innovation; states = states - Kfusion * innovation;
% the first 3 states represent the angular misalignment vector. This is % the first 3 states represent the angular misalignment vector.
% is used to correct the estimate quaternion % This is used to correct the estimate quaternion
% Convert the error rotation vector to its equivalent quaternion % Convert the error rotation vector to its equivalent quaternion
% error = truth - estimate % error = truth - estimate
rotationMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2); rotationMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2);

4
libraries/AP_NavEKF/Models/GimbalEstimatorExample/FuseVelocity.m
View File

@ -37,8 +37,8 @@ for obsIndex = 1:3
% Store tilt error estimate for external monitoring % Store tilt error estimate for external monitoring
angErrVec = angErrVec + states(1:3); angErrVec = angErrVec + states(1:3);
% the first 3 states represent the angular misalignment vector. This is % the first 3 states represent the angular misalignment vector.
% is used to correct the estimated quaternion % This is used to correct the estimated quaternion
% Convert the error rotation vector to its equivalent quaternion % Convert the error rotation vector to its equivalent quaternion
% truth = estimate + error % truth = estimate + error
rotationMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2); rotationMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2);