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AP_NavEKF3: add comments for yaw sensor variables

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Randy Mackay 2020-11-30 21:34:00 +09:00 committed by Andrew Tridgell
parent fca8eb0778
commit 6850b48ea1
1 changed files with 6 additions and 7 deletions
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13
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -1223,13 +1223,12 @@ private:
EKF_obs_buffer_t<wheel_odm_elements> storedWheelOdm; // body velocity data buffer
wheel_odm_elements wheelOdmDataDelayed; // Body frame odometry data at the fusion time horizon
// yaw sensor fusion
uint32_t yawMeasTime_ms;
EKF_obs_buffer_t<yaw_elements> storedYawAng;
yaw_elements yawAngDataNew;
yaw_elements yawAngDataDelayed;
yaw_elements yawAngDataStatic;
// GPS yaw sensor fusion
uint32_t yawMeasTime_ms; // system time GPS yaw angle was last input to the data buffer
EKF_obs_buffer_t<yaw_elements> storedYawAng; // GPS yaw angle buffer
yaw_elements yawAngDataNew; // GPS yaw angle at the current time horizon
yaw_elements yawAngDataDelayed; // GPS yaw angle at the fusion time horizon
yaw_elements yawAngDataStatic; // yaw angle (regardless of yaw source) when the vehicle was last on ground and not moving
// Range Beacon Sensor Fusion
EKF_obs_buffer_t<rng_bcn_elements> storedRangeBeacon; // Beacon range buffer