From b38fde2cf6413aaaeb2d918331887589a3afffcc Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 1 Aug 2023 09:01:30 +1000
Subject: [PATCH] AP_AHRS: fixed comments on position functions

---
 libraries/AP_AHRS/AP_AHRS.cpp | 30 ++++++++++++++++++------------
 libraries/AP_AHRS/AP_AHRS.h   |  6 +++---
 2 files changed, 21 insertions(+), 15 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index f1d3cf5986..8b0897eec5 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -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) {
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index d7c244a58b..9baf68b13d 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -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;