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AP_NavEKF2: minor comment fix

This commit is contained in:
Randy Mackay 2020-04-13 10:17:50 +09:00
parent db4f1a1473
commit 9f81da1bf9
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
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@ -119,10 +119,10 @@ void NavEKF2_core::ResetPosition(void)
rngBcnTimeout = false;
lastRngBcnPassTime_ms = imuSampleTime_ms;
} else if (imuSampleTime_ms - extNavDataDelayed.time_ms < 250) {
// use the range beacon data as a second preference
// use external nav data as the third preference
stateStruct.position.x = extNavDataDelayed.pos.x;
stateStruct.position.y = extNavDataDelayed.pos.y;
// set the variances from the beacon alignment filter
// set the variances from the external nav filter
P[7][7] = P[6][6] = sq(extNavDataDelayed.posErr);
}
}