From 230ba2700f9f310f85447c54857f1f3304604ca3 Mon Sep 17 00:00:00 2001 From: priseborough Date: Tue, 12 Jul 2016 09:54:50 +1000 Subject: [PATCH] AP_NavEKF2: fix documentation errors --- libraries/AP_NavEKF2/AP_NavEKF2.cpp | 4 ++-- libraries/AP_NavEKF2/AP_NavEKF2.h | 4 ++-- libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp | 4 ++-- libraries/AP_NavEKF2/AP_NavEKF2_core.h | 4 ++-- 4 files changed, 8 insertions(+), 8 deletions(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp index 66c59fc7cc..ca37330a1d 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp @@ -673,7 +673,7 @@ int8_t NavEKF2::getPrimaryCoreIndex(void) const return primary; } -// Return the last calculated NE position relative to the reference point (m). +// Write the last calculated NE position relative to the reference point (m). // If a calculated solution is not available, use the best available data and return false // If false returned, do not use for flight control bool NavEKF2::getPosNE(int8_t instance, Vector2f &posNE) @@ -685,7 +685,7 @@ bool NavEKF2::getPosNE(int8_t instance, Vector2f &posNE) return core[instance].getPosNE(posNE); } -// Return the last calculated D position relative to the reference point (m). +// Write the last calculated D position relative to the reference point (m). // If a calculated solution is not available, use the best available data and return false // If false returned, do not use for flight control bool NavEKF2::getPosD(int8_t instance, float &posD) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.h b/libraries/AP_NavEKF2/AP_NavEKF2.h index c1554b8ee5..4e0c9ee09d 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2.h +++ b/libraries/AP_NavEKF2/AP_NavEKF2.h @@ -62,13 +62,13 @@ public: // return -1 if no primary core selected int8_t getPrimaryCoreIndex(void) const; - // Return the last calculated NE position relative to the reference point (m) for the specified instance. + // Write the last calculated NE position relative to the reference point (m) for the specified instance. // An out of range instance (eg -1) returns data for the the primary instance // If a calculated solution is not available, use the best available data and return false // If false returned, do not use for flight control bool getPosNE(int8_t instance, Vector2f &posNE); - // Return the last calculated D position relative to the reference point (m) for the specified instance. + // Write the last calculated D position relative to the reference point (m) for the specified instance. // An out of range instance (eg -1) returns data for the the primary instance // If a calculated solution is not available, use the best available data and return false // If false returned, do not use for flight control diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp index 93d913c874..acb7d15a91 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp @@ -209,7 +209,7 @@ void NavEKF2_core::getAccelZBias(float &zbias) const { } } -// Return the last estimated NE position relative to the reference point (m). +// Write the last estimated NE position relative to the reference point (m). // Return true if the estimate is valid bool NavEKF2_core::getPosNE(Vector2f &posNE) const { @@ -245,7 +245,7 @@ bool NavEKF2_core::getPosNE(Vector2f &posNE) const return false; } -// Return the last calculated D position relative to the reference point (m). +// Write the last calculated D position relative to the reference point (m). // Return true if the estimte is valid bool NavEKF2_core::getPosD(float &posD) const { diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h index 23d999b1d2..bddc54b42c 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h +++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h @@ -66,12 +66,12 @@ public: // Intended to be used by the front-end to determine which is the primary EKF float faultScore(void) const; - // Return the last calculated NE position relative to the reference point (m). + // Write the last calculated NE position relative to the reference point (m). // If a calculated solution is not available, use the best available data and return false // If false returned, do not use for flight control bool getPosNE(Vector2f &posNE) const; - // Return the last calculated D position relative to the reference point (m). + // Write the last calculated D position relative to the reference point (m). // If a calculated solution is not available, use the best available data and return false // If false returned, do not use for flight control bool getPosD(float &posD) const;