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AP_NavEKF3: Fix typo in enum label

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Paul Riseborough 2020-12-15 18:28:00 +11:00 committed by Peter Barker
parent e819dbdd64
commit 908b348c31
2 changed files with 5 additions and 5 deletions
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8
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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@ -357,7 +357,7 @@ void NavEKF3_core::SelectMagFusion()
if (dataReady) {
// use the simple method of declination to maintain heading if we cannot use the magnetic field states
if(inhibitMagStates || magStateResetRequest || !magStateInitComplete) {
fuseEulerYaw(yawFusionMethod::MAGNETOMER);
fuseEulerYaw(yawFusionMethod::MAGNETOMETER);
// zero the test ratio output from the inactive 3-axis magnetometer fusion
magTestRatio.zero();
@ -868,7 +868,7 @@ bool NavEKF3_core::fuseEulerYaw(yawFusionMethod method)
R_YAW = sq(yawAngDataStatic.yawAngErr);
break;
case yawFusionMethod::MAGNETOMER:
case yawFusionMethod::MAGNETOMETER:
case yawFusionMethod::PREDICTED:
default:
R_YAW = sq(frontend->_yawNoise);
@ -886,7 +886,7 @@ bool NavEKF3_core::fuseEulerYaw(yawFusionMethod method)
order = yawAngDataStatic.order;
break;
case yawFusionMethod::MAGNETOMER:
case yawFusionMethod::MAGNETOMETER:
case yawFusionMethod::GSF:
case yawFusionMethod::PREDICTED:
default:
@ -1025,7 +1025,7 @@ bool NavEKF3_core::fuseEulerYaw(yawFusionMethod method)
// Calculate the innovation
switch (method) {
case yawFusionMethod::MAGNETOMER:
case yawFusionMethod::MAGNETOMETER:
{
// Use the difference between the horizontal projection and declination to give the measured yaw
// rotate measured mag components into earth frame

2
libraries/AP_NavEKF3/AP_NavEKF3_core.h
View File

@ -620,7 +620,7 @@ private:
// specifies the method to be used when fusing yaw observations
enum class yawFusionMethod {
MAGNETOMER=0,
MAGNETOMETER=0,
EXTERNAL=1,
GSF=2,
STATIC=3,