From 9f81da1bf954b6b23fdd71e16907d574c04ee394 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 13 Apr 2020 10:17:50 +0900 Subject: [PATCH] AP_NavEKF2: minor comment fix --- libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp index 0c1bf06f1f..e778892fa1 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp @@ -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); } }