From 4b8be2e535cdd9d76f59f8a60f16a07cb3fea5d1 Mon Sep 17 00:00:00 2001 From: chobits Date: Fri, 31 Jul 2020 14:36:35 +0800 Subject: [PATCH] AP_NavEKF3: fix comments --- libraries/AP_NavEKF3/AP_NavEKF3.cpp | 2 +- libraries/AP_NavEKF3/AP_NavEKF3.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp index f18df6e6ff..6702736580 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp @@ -1215,7 +1215,7 @@ void NavEKF3::getRotationBodyToNED(Matrix3f &mat) const } } -// return the quaternions defining the rotation from NED to XYZ (body) axes +// return the quaternions defining the rotation from XYZ (body) to NED axes void NavEKF3::getQuaternionBodyToNED(int8_t instance, Quaternion &quat) const { if (instance < 0 || instance >= num_cores) instance = primary; diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h index 084199397d..060508ea03 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3.h +++ b/libraries/AP_NavEKF3/AP_NavEKF3.h @@ -179,7 +179,7 @@ public: // return the transformation matrix from XYZ (body) to NED axes void getRotationBodyToNED(Matrix3f &mat) const; - // return the quaternions defining the rotation from NED to XYZ (body) axes + // return the quaternions defining the rotation from XYZ (body) to NED axes void getQuaternionBodyToNED(int8_t instance, Quaternion &quat) const; // return the quaternions defining the rotation from NED to XYZ (autopilot) axes