Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

SITL: fix typos

This commit is contained in:
Anthony Luo 2023-08-31 11:30:16 -04:00 committed by Peter Barker
parent 473d16b39a
commit 51cbaed9d9
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/SITL/SIM_GPS.cpp
View File

@ -1546,7 +1546,7 @@ void GPS::update()
// add an altitude error controlled by a slow sine wave
d.altitude = altitude + _sitl->gps_noise[idx] * sinf(now_ms * 0.0005f) + _sitl->gps_alt_offset[idx];
// Add offet to c.g. velocity to get velocity at antenna and add simulated error
// Add offset to c.g. velocity to get velocity at antenna and add simulated error
Vector3f velErrorNED = _sitl->gps_vel_err[idx];
d.speedN = speedN + (velErrorNED.x * rand_float());
d.speedE = speedE + (velErrorNED.y * rand_float());
@ -1554,12 +1554,12 @@ void GPS::update()
d.have_lock = have_lock;
if (_sitl->gps_drift_alt[idx] > 0) {
// slow altitude drift
// add slow altitude drift controlled by a slow sine wave
d.altitude += _sitl->gps_drift_alt[idx]*sinf(now_ms*0.001f*0.02f);
}
// correct the latitude, longitude, height and NED velocity for the offset between
// the vehicle c.g. and GPs antenna
// the vehicle c.g. and GPS antenna
Vector3f posRelOffsetBF = _sitl->gps_pos_offset[idx];
if (!posRelOffsetBF.is_zero()) {
// get a rotation matrix following DCM conventions (body to earth)