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AP_NavEKF3: fix comments

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chobits 2020-07-31 14:36:35 +08:00 committed by Peter Barker
parent 4640c24872
commit 4b8be2e535
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -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 void NavEKF3::getQuaternionBodyToNED(int8_t instance, Quaternion &quat) const
{ {
if (instance < 0 || instance >= num_cores) instance = primary; if (instance < 0 || instance >= num_cores) instance = primary;

2
libraries/AP_NavEKF3/AP_NavEKF3.h
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@ -179,7 +179,7 @@ public:
// return the transformation matrix from XYZ (body) to NED axes // return the transformation matrix from XYZ (body) to NED axes
void getRotationBodyToNED(Matrix3f &mat) const; 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; void getQuaternionBodyToNED(int8_t instance, Quaternion &quat) const;
// return the quaternions defining the rotation from NED to XYZ (autopilot) axes // return the quaternions defining the rotation from NED to XYZ (autopilot) axes