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AP_NavEKF3: Spell in coments

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Dr.-Ing. Amilcar Do Carmo Lucas 2017-05-16 12:27:57 +02:00 committed by Randy Mackay
parent 95b09bc19e
commit 9cb068d3f4
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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@ -766,7 +766,7 @@ void NavEKF3_core::fuseEulerYaw()
Tbn_zeroYaw.from_euler(euler321.x, euler321.y, 0.0f); Tbn_zeroYaw.from_euler(euler321.x, euler321.y, 0.0f);
} else { } else {
// calculate observaton jacobian when we are observing a rotation in a 312 sequence // calculate observation jacobian when we are observing a rotation in a 312 sequence
float t9 = q0*q3; float t9 = q0*q3;
float t10 = q1*q2; float t10 = q1*q2;
float t2 = t9-t10; float t2 = t9-t10;
@ -808,7 +808,7 @@ void NavEKF3_core::fuseEulerYaw()
Vector3f magMeasNED = Tbn_zeroYaw*magDataDelayed.mag; Vector3f magMeasNED = Tbn_zeroYaw*magDataDelayed.mag;
// 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
// If we can't use compass data, set the meaurement to the predicted // If we can't use compass data, set the measurement to the predicted
// to prevent uncontrolled variance growth whilst on ground without magnetometer // to prevent uncontrolled variance growth whilst on ground without magnetometer
float measured_yaw; float measured_yaw;
if (use_compass() && yawAlignComplete) { if (use_compass() && yawAlignComplete) {
@ -1119,7 +1119,7 @@ void NavEKF3_core::alignMagStateDeclination()
} }
} }
// record a magentic field state reset event // record a magnetic field state reset event
void NavEKF3_core::recordMagReset() void NavEKF3_core::recordMagReset()
{ {
magStateInitComplete = true; magStateInitComplete = true;