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AP_NavEKF2: Fix typos

This commit is contained in:
Ricardo de Almeida Gonzaga 2016-05-12 14:04:56 -03:00 committed by Lucas De Marchi
parent 2f88e32657
commit 64d14356b9
8 changed files with 20 additions and 20 deletions
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2
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -585,7 +585,7 @@ void NavEKF2::UpdateFilter(void)
for (uint8_t i=0; i<num_cores; i++) {
// if the previous core has only recently finished a new state prediction cycle, then
// dont start a new cycle to allow time for fusion operations to complete if the update
// don't start a new cycle to allow time for fusion operations to complete if the update
// rate is higher than 200Hz
bool statePredictEnabled;
if ((i > 0) && (core[i-1].getFramesSincePredict() < 2) && (ins.get_sample_rate() > 200)) {

2
libraries/AP_NavEKF2/AP_NavEKF2_Buffer.h
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@ -113,7 +113,7 @@ private:
};
// Folowing buffer model is for IMU data,
// Following buffer model is for IMU data,
// it achieves a distance of sample size
// between youngest and oldest
template <typename element_type>

10
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
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@ -94,7 +94,7 @@ void NavEKF2_core::setAidingMode()
prevIsAiding = isAiding;
// Don't allow filter to start position or velocity aiding until the tilt and yaw alignment is complete
bool filterIsStable = tiltAlignComplete && yawAlignComplete;
// If GPS useage has been prohiited then we use flow aiding provided optical flow data is present
// If GPS usage has been prohiited then we use flow aiding provided optical flow data is present
bool useFlowAiding = (frontend->_fusionModeGPS == 3) && optFlowDataPresent();
// Start aiding if we have a source of aiding data and the filter attitude algnment is complete
// Latch to on
@ -105,7 +105,7 @@ void NavEKF2_core::setAidingMode()
// We have transitioned either into or out of aiding
// zero stored velocities used to do dead-reckoning
heldVelNE.zero();
// set various useage modes based on the condition when we start aiding. These are then held until aiding is stopped.
// set various usage modes based on the condition when we start aiding. These are then held until aiding is stopped.
if (!isAiding) {
// We have ceased aiding
// When not aiding, estimate orientation & height fusing synthetic constant position and zero velocity measurement to constrain tilt errors
@ -121,7 +121,7 @@ void NavEKF2_core::setAidingMode()
// reset the vertical position state to faster recover from baro errors experienced during touchdown
stateStruct.position.z = -meaHgtAtTakeOff;
} else if (frontend->_fusionModeGPS == 3) {
// We have commenced aiding, but GPS useage has been prohibited so use optical flow only
// We have commenced aiding, but GPS usage has been prohibited so use optical flow only
hal.console->printf("EKF2 IMU%u is using optical flow\n",(unsigned)imu_index);
PV_AidingMode = AID_RELATIVE; // we have optical flow data and can estimate all vehicle states
posTimeout = true;
@ -131,13 +131,13 @@ void NavEKF2_core::setAidingMode()
// Reset the last valid flow fusion time
prevFlowFuseTime_ms = imuSampleTime_ms;
} else {
// We have commenced aiding and GPS useage is allowed
// We have commenced aiding and GPS usage is allowed
hal.console->printf("EKF2 IMU%u is using GPS\n",(unsigned)imu_index);
PV_AidingMode = AID_ABSOLUTE; // we have GPS data and can estimate all vehicle states
posTimeout = false;
velTimeout = false;
// we need to reset the GPS timers to prevent GPS timeout logic being invoked on entry into GPS aiding
// this is becasue the EKF can be interrupted for an arbitrary amount of time during vehicle arming checks
// this is because the EKF can be interrupted for an arbitrary amount of time during vehicle arming checks
lastTimeGpsReceived_ms = imuSampleTime_ms;
secondLastGpsTime_ms = imuSampleTime_ms;
// reset the last valid position fix time to prevent unwanted activation of GPS glitch logic

6
libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
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@ -102,8 +102,8 @@ void NavEKF2_core::alignYawGPS()
// calculate new filter quaternion states from Euler angles
stateStruct.quat.from_euler(eulerAngles.x, eulerAngles.y, gpsYaw);
// The correlations between attitude errors and positon and velocity errors in the covariance matrix
// are invalid becasue og the changed yaw angle, so reset the corresponding row and columns
// The correlations between attitude errors and position and velocity errors in the covariance matrix
// are invalid because og the changed yaw angle, so reset the corresponding row and columns
zeroCols(P,0,2);
zeroRows(P,0,2);
@ -111,7 +111,7 @@ void NavEKF2_core::alignYawGPS()
P[1][1] = P[0][0] = sq(radians(5.0f));
P[2][2] = sq(radians(45.0f));
// reset tposition fusion timer to casue the states to be reset to the GPS on the next GPS fusion cycle
// reset tposition fusion timer to cause the states to be reset to the GPS on the next GPS fusion cycle
lastPosPassTime_ms = 0;
}
}

4
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -280,7 +280,7 @@ bool NavEKF2_core::getLLH(struct Location &loc) const
location_offset(loc, outputDataNew.position.x, outputDataNew.position.y);
return true;
} else {
// we could be in constant position mode becasue the vehicle has taken off without GPS, or has lost GPS
// we could be in constant position mode because the vehicle has taken off without GPS, or has lost GPS
// in this mode we cannot use the EKF states to estimate position so will return the best available data
if ((_ahrs->get_gps().status() >= AP_GPS::GPS_OK_FIX_2D)) {
// we have a GPS position fix to return
@ -461,7 +461,7 @@ void NavEKF2_core::getFilterStatus(nav_filter_status &status) const
bool optFlowNavPossible = flowDataValid && (frontend->_fusionModeGPS == 3);
bool gpsNavPossible = !gpsNotAvailable && (PV_AidingMode == AID_ABSOLUTE) && gpsGoodToAlign;
bool filterHealthy = healthy() && tiltAlignComplete && yawAlignComplete;
// If GPS height useage is specified, height is considered to be inaccurate until the GPS passes all checks
// If GPS height usage is specified, height is considered to be inaccurate until the GPS passes all checks
bool hgtNotAccurate = (frontend->_altSource == 2) && !validOrigin;
// set individual flags

4
libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
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@ -274,7 +274,7 @@ void NavEKF2_core::FuseVelPosNED()
R_OBS[5] = posDownObsNoise;
for (uint8_t i=3; i<=5; i++) R_OBS_DATA_CHECKS[i] = R_OBS[i];
// if vertical GPS velocity data and an independant height source is being used, check to see if the GPS vertical velocity and altimeter
// if vertical GPS velocity data and an independent height source is being used, check to see if the GPS vertical velocity and altimeter
// innovations have the same sign and are outside limits. If so, then it is likely aliasing is affecting
// the accelerometers and we should disable the GPS and barometer innovation consistency checks.
if (useGpsVertVel && fuseVelData && (frontend->_altSource != 2)) {
@ -589,7 +589,7 @@ void NavEKF2_core::selectHeightForFusion()
hgtMea = gpsDataDelayed.hgt;
// enable fusion
fuseHgtData = true;
// set the observation noise to the horizontal GPS noise plus a scaler becasue GPS vertical position is usually less accurate
// set the observation noise to the horizontal GPS noise plus a scaler because GPS vertical position is usually less accurate
// TODO use VDOP/HDOP, reported accuracy or a separate parameter
posDownObsNoise = sq(constrain_float(frontend->_gpsHorizPosNoise * 1.5f, 0.1f, 10.0f));
} else if (baroDataToFuse && !usingRangeForHgt && !usingGpsForHgt) {

6
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -508,7 +508,7 @@ void NavEKF2_core::UpdateStrapdownEquationsNED()
accNavMag = velDotNEDfilt.length();
accNavMagHoriz = norm(velDotNEDfilt.x , velDotNEDfilt.y);
// save velocity for use in trapezoidal intergration for position calcuation
// save velocity for use in trapezoidal integration for position calcuation
Vector3f lastVelocity = stateStruct.velocity;
// sum delta velocities to get velocity
@ -563,7 +563,7 @@ void NavEKF2_core::calcOutputStatesFast() {
Vector3f delVelNav = Tbn_temp*imuDataNew.delVel + delVelCorrection;
delVelNav.z += GRAVITY_MSS*imuDataNew.delVelDT;
// save velocity for use in trapezoidal intergration for position calcuation
// save velocity for use in trapezoidal integration for position calcuation
Vector3f lastVelocity = outputDataNew.velocity;
// sum delta velocities to get velocity
@ -619,7 +619,7 @@ void NavEKF2_core::calcOutputStatesFast() {
/*
* Calculate the predicted state covariance matrix using algebraic equations generated with Matlab symbolic toolbox.
* The script file used to generate these and otehr equations in this filter can be found here:
* The script file used to generate these and other equations in this filter can be found here:
* https://github.com/priseborough/InertialNav/blob/master/derivations/RotationVectorAttitudeParameterisation/GenerateNavFilterEquations.m
*/
void NavEKF2_core::CovariancePrediction()

6
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -680,8 +680,8 @@ private:
uint32_t lastPosPassTime_ms; // time stamp when GPS position measurement last passed innovation consistency check (msec)
uint32_t lastHgtPassTime_ms; // time stamp when height measurement last passed innovation consistency check (msec)
uint32_t lastTasPassTime_ms; // time stamp when airspeed measurement last passed innovation consistency check (msec)
uint32_t lastTimeGpsReceived_ms;// last time we recieved GPS data
uint32_t timeAtLastAuxEKF_ms; // last time the auxilliary filter was run to fuse range or optical flow measurements
uint32_t lastTimeGpsReceived_ms;// last time we received GPS data
uint32_t timeAtLastAuxEKF_ms; // last time the auxiliary filter was run to fuse range or optical flow measurements
uint32_t secondLastGpsTime_ms; // time of second last GPS fix used to determine how long since last update
uint32_t lastHealthyMagTime_ms; // time the magnetometer was last declared healthy
bool allMagSensorsFailed; // true if all magnetometer sensors have timed out on this flight and we are no longer using magnetometer data
@ -776,7 +776,7 @@ private:
uint8_t localFilterTimeStep_ms; // average number of msec between filter updates
float posDownObsNoise; // observationn noise on the vertical position used by the state and covariance update step (m)
// variables used to calulate a vertical velocity that is kinematically consistent with the verical position
// variables used to calculate a vertical velocity that is kinematically consistent with the verical position
float posDownDerivative; // Rate of chage of vertical position (dPosD/dt) in m/s. This is the first time derivative of PosD.
float posDown; // Down position state used in calculation of posDownRate