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AP_NavEKF3: minor comment fix

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This commit is contained in:
Randy Mackay 2020-04-15 14:32:52 +09:00
parent 7c20a1ee05
commit 22c9081c83
2 changed files with 3 additions and 3 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3.h
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@ -413,7 +413,7 @@ private:
AP_Float _gyroBiasProcessNoise; // gyro bias state process noise : rad/s
AP_Float _accelBiasProcessNoise;// accel bias state process noise : m/s^2
AP_Int16 _hgtDelay_ms; // effective average delay of Height measurements relative to inertial measurements (msec)
AP_Int8 _fusionModeGPS; // 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity
AP_Int8 _fusionModeGPS; // 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity, 3 = do not use GPS
AP_Int16 _gpsVelInnovGate; // Percentage number of standard deviations applied to GPS velocity innovation consistency check
AP_Int16 _gpsPosInnovGate; // Percentage number of standard deviations applied to GPS position innovation consistency check
AP_Int16 _hgtInnovGate; // Percentage number of standard deviations applied to height innovation consistency check

4
libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
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@ -342,7 +342,7 @@ void NavEKF3_core::SelectVelPosFusion()
// store the time of the reset
lastPosReset_ms = imuSampleTime_ms;
// If we are alseo using GPS as the height reference, reset the height
// If we are also using GPS as the height reference, reset the height
if (activeHgtSource == HGT_SOURCE_GPS) {
// Store the position before the reset so that we can record the reset delta
posResetD = stateStruct.position.z;
@ -435,7 +435,7 @@ void NavEKF3_core::FuseVelPosNED()
// Use different errors if operating without external aiding using an assumed position or velocity of zero
if (PV_AidingMode == AID_NONE) {
if (tiltAlignComplete && motorsArmed) {
// This is a compromise between corrections for gyro errors and reducing effect of manoeuvre accelerations on tilt estimate
// This is a compromise between corrections for gyro errors and reducing effect of manoeuvre accelerations on tilt estimate
R_OBS[0] = sq(constrain_float(frontend->_noaidHorizNoise, 0.5f, 50.0f));
} else {
// Use a smaller value to give faster initial alignment