From 2806fc98b38362d92332e1aa6ac77b15f1146787 Mon Sep 17 00:00:00 2001 From: Mykhailo Kuznietsov Date: Wed, 11 Oct 2023 18:41:52 +1100 Subject: [PATCH] AP_DAL: Fix some typos Fixed some typos found in the code. --- libraries/AP_DAL/AP_DAL.cpp | 12 ++++++------ libraries/AP_DAL/AP_DAL.h | 2 +- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/libraries/AP_DAL/AP_DAL.cpp b/libraries/AP_DAL/AP_DAL.cpp index 8942a6e46d..0e4f309fad 100644 --- a/libraries/AP_DAL/AP_DAL.cpp +++ b/libraries/AP_DAL/AP_DAL.cpp @@ -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); } diff --git a/libraries/AP_DAL/AP_DAL.h b/libraries/AP_DAL/AP_DAL.h index ddf643bcf6..671499b547 100644 --- a/libraries/AP_DAL/AP_DAL.h +++ b/libraries/AP_DAL/AP_DAL.h @@ -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);