From 64a8153b684b7c4d969aaae8000f63e8d16a4e2b Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Sat, 21 May 2016 11:13:03 +1000
Subject: [PATCH] AP_NavEKF2: update function name

The primary purpose of this function is re-alignment
---
 libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp | 6 +++---
 libraries/AP_NavEKF2/AP_NavEKF2_core.h        | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
index 5de93bab06..a3c68097ae 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
@@ -60,7 +60,7 @@ void NavEKF2_core::controlMagYawReset()
     // In-Flight reset for vehicles that can use a zero sideslip assumption (Planes)
     // this is done to protect against unrecoverable heading alignment errors due to compass faults
     if (!firstMagYawInit && assume_zero_sideslip() && inFlight) {
-        alignYawGPS();
+        realignYawGPS();
         firstMagYawInit = true;
     }
 
@@ -74,9 +74,9 @@ void NavEKF2_core::controlMagYawReset()
 
 }
 
-// this function is used to do a forced alignment of the yaw angle to align with the horizontal velocity
+// this function is used to do a forced re-alignment of the yaw angle to align with the horizontal velocity
 // vector from GPS. It is used to align the yaw angle after launch or takeoff.
-void NavEKF2_core::alignYawGPS()
+void NavEKF2_core::realignYawGPS()
 {
     // get quaternion from existing filter states and calculate roll, pitch and yaw angles
     Vector3f eulerAngles;
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
index f108a32b3f..1f62756821 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
@@ -502,7 +502,7 @@ private:
     void SelectBetaFusion();
 
     // force alignment of the yaw angle using GPS velocity data
-    void alignYawGPS();
+    void realignYawGPS();
 
     // initialise the earth magnetic field states using declination and current attitude and magnetometer meaasurements
     // and return attitude quaternion