From 6c947fc10b8006f9c097bb87079b07385944aec0 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 17 Jan 2022 15:49:16 +0900 Subject: [PATCH] AP_NavEKF2: minor spelling fixes to optflow fusion --- libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp index 6126ddea14..f862b23836 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp @@ -89,7 +89,7 @@ void NavEKF2_core::EstimateTerrainOffset() gndHgtValidTime_ms = imuSampleTime_ms; // propagate ground position state noise each time this is called using the difference in position since the last observations and an RMS gradient assumption - // limit distance to prevent intialisation afer bad gps causing bad numerical conditioning + // limit distance to prevent initialisation after bad gps causing bad numerical conditioning ftype distanceTravelledSq = sq(stateStruct.position[0] - prevPosN) + sq(stateStruct.position[1] - prevPosE); distanceTravelledSq = MIN(distanceTravelledSq, 100.0f); prevPosN = stateStruct.position[0]; @@ -303,7 +303,7 @@ void NavEKF2_core::FuseOptFlow() // Fuse X and Y axis measurements sequentially assuming observation errors are uncorrelated for (uint8_t obsIndex=0; obsIndex<=1; obsIndex++) { // fuse X axis data first - // calculate range from ground plain to centre of sensor fov assuming flat earth + // calculate range from ground plane to centre of sensor fov assuming flat earth ftype range = constrain_ftype((heightAboveGndEst/prevTnb.c.z),rngOnGnd,1000.0f); // correct range for flow sensor offset body frame position offset