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AP_NavEKF2: minor comment fixes

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This commit is contained in:
Randy Mackay 2020-04-18 11:08:50 +09:00
parent 43c9e13372
commit 990313371d
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -396,7 +396,7 @@ private:
AP_Float _gyroBiasProcessNoise; // gyro bias state process noise : rad/s
AP_Float _accelBiasProcessNoise;// accel bias state process noise : m/s^2
AP_Int16 _hgtDelay_ms; // effective average delay of Height measurements relative to inertial measurements (msec)
AP_Int8 _fusionModeGPS; // 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity
AP_Int8 _fusionModeGPS; // 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity, 3 = do not use GPS
AP_Int16 _gpsVelInnovGate; // Percentage number of standard deviations applied to GPS velocity innovation consistency check
AP_Int16 _gpsPosInnovGate; // Percentage number of standard deviations applied to GPS position innovation consistency check
AP_Int16 _hgtInnovGate; // Percentage number of standard deviations applied to height innovation consistency check

2
libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
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@ -113,7 +113,7 @@ void NavEKF2_core::controlMagYawReset()
// the new quaternion uses the old roll/pitch and new yaw angle
stateStruct.quat.from_euler(eulerAnglesOld.x, eulerAnglesOld.y, eulerAnglesNew.z);
// calculate the change in the quaternion state and apply it to the ouput history buffer
// calculate the change in the quaternion state and apply it to the output history buffer
prevQuat = stateStruct.quat/prevQuat;
StoreQuatRotate(prevQuat);