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AP_NavEKF3: fix documentation derivation references

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priseborough 2017-04-10 14:24:45 +09:00 committed by Randy Mackay
parent 78d1ea4727
commit 8250fe4943
4 changed files with 7 additions and 7 deletions
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4
libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
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@ -22,7 +22,7 @@ extern const AP_HAL::HAL& hal;
/*
* Fuse true airspeed measurements using explicit algebraic equations generated with Matlab symbolic toolbox.
* 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
* https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m
*/
void NavEKF3_core::FuseAirspeed()
{
@ -240,7 +240,7 @@ void NavEKF3_core::SelectBetaFusion()
/*
* Fuse sythetic sideslip measurement of zero using explicit algebraic equations generated with Matlab symbolic toolbox.
* 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
* https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m
*/
void NavEKF3_core::FuseSideslip()
{

6
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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@ -310,7 +310,7 @@ void NavEKF3_core::SelectMagFusion()
/*
* Fuse magnetometer measurements using explicit algebraic equations generated with Matlab symbolic toolbox.
* 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
* https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m
*/
void NavEKF3_core::FuseMagnetometer()
{
@ -703,7 +703,7 @@ void NavEKF3_core::FuseMagnetometer()
/*
* Fuse magnetic heading measurement using explicit algebraic equations generated with Matlab symbolic toolbox.
* 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
* https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m
* This fusion method only modifies the orientation, does not require use of the magnetic field states and is computationally cheaper.
* It is suitable for use when the external magnetic field environment is disturbed (eg close to metal structures, on ground).
* It is not as robust to magnetometer failures.
@ -930,7 +930,7 @@ void NavEKF3_core::fuseEulerYaw()
/*
* Fuse declination angle using explicit algebraic equations generated with Matlab symbolic toolbox.
* 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
* https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m
* This is used to prevent the declination of the EKF earth field states from drifting during operation without GPS
* or some other absolute position or velocity reference
*/

2
libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
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@ -260,7 +260,7 @@ void NavEKF3_core::EstimateTerrainOffset()
/*
* Fuse angular motion compensated optical flow rates using explicit algebraic equations generated with Matlab symbolic toolbox.
* 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
* https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m
* Requires a valid terrain height estimate.
*/
void NavEKF3_core::FuseOptFlow()

2
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -800,7 +800,7 @@ void NavEKF3_core::calcOutputStates()
/*
* Calculate the predicted state covariance matrix using algebraic equations generated with Matlab symbolic toolbox.
* 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
* https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m
*/
void NavEKF3_core::CovariancePrediction()
{