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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) { if (dataReady) {
// use the simple method of declination to maintain heading if we cannot use the magnetic field states // use the simple method of declination to maintain heading if we cannot use the magnetic field states
if(inhibitMagStates || magStateResetRequest || !magStateInitComplete) { if(inhibitMagStates || magStateResetRequest || !magStateInitComplete) {
fuseEulerYaw(yawFusionMethod::MAGNETOMER); fuseEulerYaw(yawFusionMethod::MAGNETOMETER);
// zero the test ratio output from the inactive 3-axis magnetometer fusion // zero the test ratio output from the inactive 3-axis magnetometer fusion
magTestRatio.zero(); magTestRatio.zero();
@ -868,7 +868,7 @@ bool NavEKF3_core::fuseEulerYaw(yawFusionMethod method)
R_YAW = sq(yawAngDataStatic.yawAngErr); R_YAW = sq(yawAngDataStatic.yawAngErr);
break; break;
case yawFusionMethod::MAGNETOMER: case yawFusionMethod::MAGNETOMETER:
case yawFusionMethod::PREDICTED: case yawFusionMethod::PREDICTED:
default: default:
R_YAW = sq(frontend->_yawNoise); R_YAW = sq(frontend->_yawNoise);
@ -886,7 +886,7 @@ bool NavEKF3_core::fuseEulerYaw(yawFusionMethod method)
order = yawAngDataStatic.order; order = yawAngDataStatic.order;
break; break;
case yawFusionMethod::MAGNETOMER: case yawFusionMethod::MAGNETOMETER:
case yawFusionMethod::GSF: case yawFusionMethod::GSF:
case yawFusionMethod::PREDICTED: case yawFusionMethod::PREDICTED:
default: default:
@ -1025,7 +1025,7 @@ bool NavEKF3_core::fuseEulerYaw(yawFusionMethod method)
// Calculate the innovation // Calculate the innovation
switch (method) { switch (method) {
case yawFusionMethod::MAGNETOMER: case yawFusionMethod::MAGNETOMETER:
{ {
// Use the difference between the horizontal projection and declination to give the measured yaw // Use the difference between the horizontal projection and declination to give the measured yaw
// rotate measured mag components into earth frame // rotate measured mag components into earth frame

2
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -620,7 +620,7 @@ private:
// specifies the method to be used when fusing yaw observations // specifies the method to be used when fusing yaw observations
enum class yawFusionMethod { enum class yawFusionMethod {
MAGNETOMER=0, MAGNETOMETER=0,
EXTERNAL=1, EXTERNAL=1,
GSF=2, GSF=2,
STATIC=3, STATIC=3,