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AP_NavEKF2: Change misnomer (NFC)

This commit is contained in:
murata 2021-03-11 06:43:16 +09:00 committed by Peter Barker
parent 9abf91c86e
commit a5b6ce9220
5 changed files with 16 additions and 16 deletions
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8
libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp
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@ -128,8 +128,8 @@ void NavEKF2_core::FuseAirspeed()
statesArray[j] = statesArray[j] - Kfusion[j] * innovVtas; statesArray[j] = statesArray[j] - Kfusion[j] * innovVtas;
} }
// the first 3 states represent the angular misalignment vector. This is // the first 3 states represent the angular misalignment vector.
// is used to correct the estimated quaternion on the current time step // This is used to correct the estimated quaternion on the current time step
stateStruct.quat.rotate(stateStruct.angErr); stateStruct.quat.rotate(stateStruct.angErr);
// correct the covariance P = (I - K*H)*P // correct the covariance P = (I - K*H)*P
@ -370,8 +370,8 @@ void NavEKF2_core::FuseSideslip()
statesArray[j] = statesArray[j] - Kfusion[j] * innovBeta; statesArray[j] = statesArray[j] - Kfusion[j] * innovBeta;
} }
// the first 3 states represent the angular misalignment vector. This is // the first 3 states represent the angular misalignment vector.
// is used to correct the estimated quaternion on the current time step // This is used to correct the estimated quaternion on the current time step
stateStruct.quat.rotate(stateStruct.angErr); stateStruct.quat.rotate(stateStruct.angErr);
// correct the covariance P = (I - K*H)*P // correct the covariance P = (I - K*H)*P

12
libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
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@ -689,8 +689,8 @@ void NavEKF2_core::FuseMagnetometer()
MagTableConstrain(); MagTableConstrain();
} }
// the first 3 states represent the angular misalignment vector. This is // the first 3 states represent the angular misalignment vector.
// is used to correct the estimated quaternion on the current time step // This is used to correct the estimated quaternion on the current time step
stateStruct.quat.rotate(stateStruct.angErr); stateStruct.quat.rotate(stateStruct.angErr);
} else { } else {
@ -964,8 +964,8 @@ void NavEKF2_core::fuseEulerYaw()
statesArray[i] -= Kfusion[i] * innovation; statesArray[i] -= Kfusion[i] * innovation;
} }
// the first 3 states represent the angular misalignment vector. This is // the first 3 states represent the angular misalignment vector.
// is used to correct the estimated quaternion on the current time step // This is used to correct the estimated quaternion on the current time step
stateStruct.quat.rotate(stateStruct.angErr); stateStruct.quat.rotate(stateStruct.angErr);
// record fusion event // record fusion event
@ -1095,8 +1095,8 @@ void NavEKF2_core::FuseDeclination(float declErr)
statesArray[j] = statesArray[j] - Kfusion[j] * innovation; statesArray[j] = statesArray[j] - Kfusion[j] * innovation;
} }
// the first 3 states represent the angular misalignment vector. This is // the first 3 states represent the angular misalignment vector.
// is used to correct the estimated quaternion on the current time step // This is used to correct the estimated quaternion on the current time step
stateStruct.quat.rotate(stateStruct.angErr); stateStruct.quat.rotate(stateStruct.angErr);
// record fusion health status // record fusion health status

4
libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp
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@ -697,8 +697,8 @@ void NavEKF2_core::FuseOptFlow()
statesArray[j] = statesArray[j] - Kfusion[j] * innovOptFlow[obsIndex]; statesArray[j] = statesArray[j] - Kfusion[j] * innovOptFlow[obsIndex];
} }
// the first 3 states represent the angular misalignment vector. This is // the first 3 states represent the angular misalignment vector.
// is used to correct the estimated quaternion on the current time step // This is used to correct the estimated quaternion on the current time step
stateStruct.quat.rotate(stateStruct.angErr); stateStruct.quat.rotate(stateStruct.angErr);
} else { } else {

4
libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
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@ -891,8 +891,8 @@ void NavEKF2_core::FuseVelPosNED()
statesArray[i] = statesArray[i] - Kfusion[i] * innovVelPos[obsIndex]; statesArray[i] = statesArray[i] - Kfusion[i] * innovVelPos[obsIndex];
} }
// the first 3 states represent the angular misalignment vector. This is // the first 3 states represent the angular misalignment vector.
// is used to correct the estimated quaternion // This is used to correct the estimated quaternion
stateStruct.quat.rotate(stateStruct.angErr); stateStruct.quat.rotate(stateStruct.angErr);
// sum the attitude error from velocity and position fusion only // sum the attitude error from velocity and position fusion only

4
libraries/AP_NavEKF2/AP_NavEKF2_RngBcnFusion.cpp
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@ -214,8 +214,8 @@ void NavEKF2_core::FuseRngBcn()
statesArray[j] = statesArray[j] - Kfusion[j] * innovRngBcn; statesArray[j] = statesArray[j] - Kfusion[j] * innovRngBcn;
} }
// the first 3 states represent the angular misalignment vector. This is // the first 3 states represent the angular misalignment vector.
// is used to correct the estimated quaternion on the current time step // This is used to correct the estimated quaternion on the current time step
stateStruct.quat.rotate(stateStruct.angErr); stateStruct.quat.rotate(stateStruct.angErr);
// record healthy fusion // record healthy fusion