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AP_DAL: Fix some typos 

Fixed some typos found in the code.
This commit is contained in:
Mykhailo Kuznietsov 2023-10-11 18:41:52 +11:00 committed by Peter Barker
parent 633bb159bf
commit 2806fc98b3
2 changed files with 7 additions and 7 deletions
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12
libraries/AP_DAL/AP_DAL.cpp
View File

@ -377,7 +377,7 @@ void AP_DAL::writeExtNavVelData(const Vector3f &vel, float err, uint32_t timeSta
}
// log wheel odomotry data
// log wheel odometry data
void AP_DAL::writeWheelOdom(float delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset, float radius)
{
end_frame();
@ -478,22 +478,22 @@ void AP_DAL::handle_message(const log_REVH &msg, NavEKF2 &ekf2, NavEKF3 &ekf3)
}
/*
handle wheel odomotry data
handle wheel odometry data
*/
void AP_DAL::handle_message(const log_RWOH &msg, NavEKF2 &ekf2, NavEKF3 &ekf3)
{
_RWOH = msg;
// note that EKF2 does not support wheel odomotry
// note that EKF2 does not support wheel odometry
ekf3.writeWheelOdom(msg.delAng, msg.delTime, msg.timeStamp_ms, msg.posOffset, msg.radius);
}
/*
handle body frame odomotry
handle body frame odometry
*/
void AP_DAL::handle_message(const log_RBOH &msg, NavEKF2 &ekf2, NavEKF3 &ekf3)
{
_RBOH = msg;
// note that EKF2 does not support body frame odomotry
// note that EKF2 does not support body frame odometry
ekf3.writeBodyFrameOdom(msg.quality, msg.delPos, msg.delAng, msg.delTime, msg.timeStamp_ms, msg.delay_ms, msg.posOffset);
}
@ -503,7 +503,7 @@ void AP_DAL::handle_message(const log_RBOH &msg, NavEKF2 &ekf2, NavEKF3 &ekf3)
void AP_DAL::handle_message(const log_RSLL &msg, NavEKF2 &ekf2, NavEKF3 &ekf3)
{
_RSLL = msg;
// note that EKF2 does not support body frame odomotry
// note that EKF2 does not support body frame odometry
const Location loc {msg.lat, msg.lng, 0, Location::AltFrame::ABSOLUTE };
ekf3.setLatLng(loc, msg.posAccSD, msg.timestamp_ms);
}

2
libraries/AP_DAL/AP_DAL.h
View File

@ -215,7 +215,7 @@ public:
void writeExtNavData(const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint16_t delay_ms, uint32_t resetTime_ms);
void writeExtNavVelData(const Vector3f &vel, float err, uint32_t timeStamp_ms, uint16_t delay_ms);
// log wheel odomotry data
// log wheel odometry data
void writeWheelOdom(float delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset, float radius);
void writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, uint16_t delay_ms, const Vector3f &posOffset);