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AP_NavEKF2: fix documentation errors

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priseborough 2016-07-12 09:54:50 +10:00 committed by Andrew Tridgell
parent b3bfb71431
commit 230ba2700f
4 changed files with 8 additions and 8 deletions
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4
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -673,7 +673,7 @@ int8_t NavEKF2::getPrimaryCoreIndex(void) const
return primary; 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 a calculated solution is not available, use the best available data and return false
// If false returned, do not use for flight control // If false returned, do not use for flight control
bool NavEKF2::getPosNE(int8_t instance, Vector2f &posNE) 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 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 a calculated solution is not available, use the best available data and return false
// If false returned, do not use for flight control // If false returned, do not use for flight control
bool NavEKF2::getPosD(int8_t instance, float &posD) bool NavEKF2::getPosD(int8_t instance, float &posD)

4
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -62,13 +62,13 @@ public:
// return -1 if no primary core selected // return -1 if no primary core selected
int8_t getPrimaryCoreIndex(void) const; 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 // 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 a calculated solution is not available, use the best available data and return false
// If false returned, do not use for flight control // If false returned, do not use for flight control
bool getPosNE(int8_t instance, Vector2f &posNE); 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 // 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 a calculated solution is not available, use the best available data and return false
// If false returned, do not use for flight control // If false returned, do not use for flight control

4
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -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 // Return true if the estimate is valid
bool NavEKF2_core::getPosNE(Vector2f &posNE) const bool NavEKF2_core::getPosNE(Vector2f &posNE) const
{ {
@ -245,7 +245,7 @@ bool NavEKF2_core::getPosNE(Vector2f &posNE) const
return false; 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 // Return true if the estimte is valid
bool NavEKF2_core::getPosD(float &posD) const bool NavEKF2_core::getPosD(float &posD) const
{ {

4
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -66,12 +66,12 @@ public:
// Intended to be used by the front-end to determine which is the primary EKF // Intended to be used by the front-end to determine which is the primary EKF
float faultScore(void) const; 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 a calculated solution is not available, use the best available data and return false
// If false returned, do not use for flight control // If false returned, do not use for flight control
bool getPosNE(Vector2f &posNE) const; 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 a calculated solution is not available, use the best available data and return false
// If false returned, do not use for flight control // If false returned, do not use for flight control
bool getPosD(float &posD) const; bool getPosD(float &posD) const;