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AP_AHRS: fixed comments on position functions

This commit is contained in:
Andrew Tridgell 2023-08-01 09:01:30 +10:00
parent b7a0f47853
commit b38fde2cf6
2 changed files with 21 additions and 15 deletions
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30
libraries/AP_AHRS/AP_AHRS.cpp
View File

@ -1462,8 +1462,9 @@ bool AP_AHRS::get_hagl(float &height) const
return false;
}
// return a relative ground position to the origin in meters
// North/East/Down order.
/*
return a relative NED position from the origin in meters
*/
bool AP_AHRS::get_relative_position_NED_origin(Vector3f &vec) const
{
switch (active_EKF_type()) {
@ -1514,8 +1515,9 @@ bool AP_AHRS::get_relative_position_NED_origin(Vector3f &vec) const
return false;
}
// return a relative ground position to the home in meters
// North/East/Down order.
/*
return a relative ground position from home in meters
*/
bool AP_AHRS::get_relative_position_NED_home(Vector3f &vec) const
{
Location originLLH;
@ -1533,8 +1535,9 @@ bool AP_AHRS::get_relative_position_NED_home(Vector3f &vec) const
return true;
}
// write a relative ground position estimate to the origin in meters, North/East order
// return true if estimate is valid
/*
return a relative position estimate from the origin in meters
*/
bool AP_AHRS::get_relative_position_NE_origin(Vector2f &posNE) const
{
switch (active_EKF_type()) {
@ -1569,8 +1572,9 @@ bool AP_AHRS::get_relative_position_NE_origin(Vector2f &posNE) const
return false;
}
// return a relative ground position to the home in meters
// North/East order.
/*
return a relative ground position from home in meters North/East
*/
bool AP_AHRS::get_relative_position_NE_home(Vector2f &posNE) const
{
Location originLLH;
@ -1590,8 +1594,9 @@ bool AP_AHRS::get_relative_position_NE_home(Vector2f &posNE) const
// write a relative ground position estimate to the origin in meters, North/East order
// write a relative ground position to the origin in meters, Down
// return true if the estimate is valid
/*
return a relative ground position from the origin in meters, down
*/
bool AP_AHRS::get_relative_position_D_origin(float &posD) const
{
switch (active_EKF_type()) {
@ -1625,8 +1630,9 @@ bool AP_AHRS::get_relative_position_D_origin(float &posD) const
return false;
}
// write a relative ground position to home in meters, Down
// will use the barometer if the EKF isn't available
/*
return relative position from home in meters
*/
void AP_AHRS::get_relative_position_D_home(float &posD) const
{
if (!_home_is_set) {

6
libraries/AP_AHRS/AP_AHRS.h
View File

@ -214,17 +214,17 @@ public:
// order. Must only be called if have_inertial_nav() is true
bool get_velocity_NED(Vector3f &vec) const WARN_IF_UNUSED;
// return the relative position NED to either home or origin
// return the relative position NED from either home or origin
// return true if the estimate is valid
bool get_relative_position_NED_home(Vector3f &vec) const WARN_IF_UNUSED;
bool get_relative_position_NED_origin(Vector3f &vec) const WARN_IF_UNUSED;
// return the relative position NE to either home or origin
// return the relative position NE from home or origin
// return true if the estimate is valid
bool get_relative_position_NE_home(Vector2f &posNE) const WARN_IF_UNUSED;
bool get_relative_position_NE_origin(Vector2f &posNE) const WARN_IF_UNUSED;
// return the relative position down to either home or origin
// return the relative position down from home or origin
// baro will be used for the _home relative one if the EKF isn't
void get_relative_position_D_home(float &posD) const;
bool get_relative_position_D_origin(float &posD) const WARN_IF_UNUSED;