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AP_GPS: Improve comments (NFC)

This commit is contained in:
Dr.-Ing. Amilcar Do Carmo Lucas 2017-12-05 01:48:36 +01:00 committed by Randy Mackay
parent 2235b22510
commit 9b2e48ce10
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_GPS/AP_GPS_SBF.cpp
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@ -306,7 +306,7 @@ AP_GPS_SBF::process_message(void)
state.have_vertical_accuracy = true; state.have_vertical_accuracy = true;
} }
// Update position state (don't use −2·10^10) // Update position state (don't use -2·10^10)
if (temp.Latitude > -200000) { if (temp.Latitude > -200000) {
state.location.lat = (int32_t)(temp.Latitude * RAD_TO_DEG_DOUBLE * (double)1e7); state.location.lat = (int32_t)(temp.Latitude * RAD_TO_DEG_DOUBLE * (double)1e7);
state.location.lng = (int32_t)(temp.Longitude * RAD_TO_DEG_DOUBLE * (double)1e7); state.location.lng = (int32_t)(temp.Longitude * RAD_TO_DEG_DOUBLE * (double)1e7);
@ -375,8 +375,8 @@ AP_GPS_SBF::process_message(void)
{ {
const msg5908 &temp = sbf_msg.data.msg5908u; const msg5908 &temp = sbf_msg.data.msg5908u;
// select the maximum variance, as the EKF will apply it to all the columnds in it's estimate // select the maximum variance, as the EKF will apply it to all the columns in it's estimate
// FIXME: Support returning the covariance matric to the EKF // FIXME: Support returning the covariance matrix to the EKF
float max_variance_squared = MAX(temp.Cov_VnVn, MAX(temp.Cov_VeVe, temp.Cov_VuVu)); float max_variance_squared = MAX(temp.Cov_VnVn, MAX(temp.Cov_VeVe, temp.Cov_VuVu));
if (is_positive(max_variance_squared)) { if (is_positive(max_variance_squared)) {
state.have_speed_accuracy = true; state.have_speed_accuracy = true;
@ -429,7 +429,7 @@ bool AP_GPS_SBF::prepare_for_arming(void) {
gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: SBF disk is not mounted", state.instance + 1); gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: SBF disk is not mounted", state.instance + 1);
// simply attempt to mount the disk, no need to check if the command was // simply attempt to mount the disk, no need to check if the command was
// ACK/NACK'd as we don't continously attempt to remount the disk // ACK/NACK'd as we don't continuously attempt to remount the disk
gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: Attempting to mount disk", state.instance + 1); gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: Attempting to mount disk", state.instance + 1);
mount_disk(); mount_disk();
// reset the flag to indicate if we should be logging // reset the flag to indicate if we should be logging