Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_InertialNav: nfc, fix to say relative to EKF origin

This commit is contained in:
Joshua Henderson 2022-02-02 00:26:14 -05:00 committed by Randy Mackay
parent 6ceee23b85
commit 8e04fb4e8e
2 changed files with 8 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_InertialNav/AP_InertialNav.cpp
View File

@ -52,7 +52,7 @@ nav_filter_status AP_InertialNav::get_filter_status() const
}
/**
* get_position_neu_cm - returns the current position relative to the home location in cm.
* get_position_neu_cm - returns the current position relative to the EKF origin in cm.
*
* @return
*/
@ -62,7 +62,7 @@ const Vector3f &AP_InertialNav::get_position_neu_cm(void) const
}
/**
* get_position_xy_cm - returns the current x-y position relative to the home location in cm.
* get_position_xy_cm - returns the current x-y position relative to the EKF origin in cm.
*
* @return
*/
@ -72,7 +72,7 @@ const Vector2f &AP_InertialNav::get_position_xy_cm() const
}
/**
* get_position_z_up_cm - returns the current z position relative to the home location, frame z-axis up, in cm.
* get_position_z_up_cm - returns the current z position relative to the EKF origin, frame z-axis up, in cm.
* @return
*/
float AP_InertialNav::get_position_z_up_cm() const
@ -94,7 +94,7 @@ const Vector3f &AP_InertialNav::get_velocity_neu_cms() const
}
/**
* get_velocity_xy_cms - returns the current x-y velocity relative to the home location in cm.
* get_velocity_xy_cms - returns the current x-y velocity relative to the EKF origin in cm.
*
* @return
*/

10
libraries/AP_InertialNav/AP_InertialNav.h
View File

@ -27,23 +27,21 @@ public:
nav_filter_status get_filter_status() const;
/**
* get_position_neu_cm - returns the current position relative to the home location in cm.
*
* the home location was set with AP_InertialNav::set_home_position(int32_t, int32_t)
* get_position_neu_cm - returns the current position relative to the EKF origin in cm.
*
* @return
*/
const Vector3f& get_position_neu_cm() const;
/**
* get_position_xy_cm - returns the current x-y position relative to the home location in cm.
* get_position_xy_cm - returns the current x-y position relative to the EKF origin in cm.
*
* @return
*/
const Vector2f& get_position_xy_cm() const;
/**
* get_position_z_up_cm - returns the current z position relative to the home location, frame z up, in cm.
* get_position_z_up_cm - returns the current z position relative to the EKF origin, frame z up, in cm.
* @return
*/
float get_position_z_up_cm() const;
@ -59,7 +57,7 @@ public:
const Vector3f& get_velocity_neu_cms() const;
/**
* get_velocity_xy_cms - returns the current x-y velocity relative to the home location in cm.
* get_velocity_xy_cms - returns the current x-y velocity relative to the EKF origin in cm.
*
* @return
*/