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AP_NavEKF: fixed some matlab ! -> ~ typos 

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
This commit is contained in:
Andrew Tridgell 2014-04-20 21:44:37 +10:00
parent 5a7afbf2cd
commit 68f1ae3036
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -1580,7 +1580,7 @@ void NavEKF::FuseVelPosNED()
else gpsRetryTime = _gpsRetryTimeNoTAS; else gpsRetryTime = _gpsRetryTimeNoTAS;
// form the observation vector and zero velocity and horizontal position observations if in static mode // form the observation vector and zero velocity and horizontal position observations if in static mode
if (~staticMode) { if (!staticMode) {
for (uint8_t i=0; i<=2; i++) observation[i] = velNED[i]; for (uint8_t i=0; i<=2; i++) observation[i] = velNED[i];
for (uint8_t i=3; i<=4; i++) observation[i] = posNE[i-3]; for (uint8_t i=3; i<=4; i++) observation[i] = posNE[i-3];
} else { } else {
@ -1715,7 +1715,7 @@ void NavEKF::FuseVelPosNED()
velFailTime = hal.scheduler->millis(); velFailTime = hal.scheduler->millis();
} }
// if data is not healthy and timed out and position is unhealthy we reset the velocity, but do not fuse data on this time step // if data is not healthy and timed out and position is unhealthy we reset the velocity, but do not fuse data on this time step
else if (velTimeout && ~posHealth) { else if (velTimeout && !posHealth) {
ResetVelocity(); ResetVelocity();
StoreStatesReset(); StoreStatesReset();
fuseVelData = false; fuseVelData = false;