AP_NavEKF: fix documentation errors

libraries/AP_NavEKF/AP_NavEKF.cpp

@@ -470,7 +470,7 @@ bool NavEKF::healthy(void) const
     return core->healthy();
 }
 
-// Return the last calculated North East position relative to the reference point (m).
+// Write the last calculated North East position relative to the reference point (m).
 // If a calculated solution is not available, use the best available data and return false
 // If false returned, do not use for flight control
 bool NavEKF::getPosNE(Vector2f &posNE) const
@@ -481,7 +481,7 @@ bool NavEKF::getPosNE(Vector2f &posNE) const
     return core->getPosNE(posNE);
 }
 
-// Return the last calculated Down position relative to the reference point (m).
+// Write the last calculated Down position relative to the reference point (m).
 // If a calculated solution is not available, use the best available data and return false
 // If false returned, do not use for flight control
 bool NavEKF::getPosD(float &posD) const

libraries/AP_NavEKF/AP_NavEKF.h

@@ -71,12 +71,12 @@ public:
     // Check basic filter health metrics and return a consolidated health status
     bool healthy(void) const;
 
-    // Return the last calculated North East position relative to the reference point (m).
+    // Write the last calculated North East position relative to the reference point (m).
     // If a calculated solution is not available, use the best available data and return false
     // If false returned, do not use for flight control
     bool getPosNE(Vector2f &posNE) const;
 
-    // Return the last calculated Down position relative to the reference point (m).
+    // Write the last calculated Down position relative to the reference point (m).
     // If a calculated solution is not available, use the best available data and return false
     // If false returned, do not use for flight control
     bool getPosD(float &posD) const;

libraries/AP_NavEKF/AP_NavEKF_core.cpp

@@ -3358,8 +3358,8 @@ float NavEKF_core::getPosDownDerivative(void) const
     return posDownDerivative;
 }
 
-// Return the last calculated NE position relative to the reference point (m).
-// if a calculated solution is not available, use the best available data and return false
+// Write the last calculated NE position relative to the reference point (m).
+// Return true if the estimate is valid
 bool NavEKF_core::getPosNE(Vector2f &posNE) const
 {
     // There are three modes of operation, absolute position (GPS fusion), relative position (optical flow fusion) and constant position (no position estimate available)
@@ -3394,8 +3394,8 @@ bool NavEKF_core::getPosNE(Vector2f &posNE) const
     return false;
 }
 
-// Return the last calculated D position relative to the reference point (m).
-// if a calculated solution is not available, use the best available data and return false
+// Write the last calculated D position relative to the reference point (m).
+// Return true if the estimate is valid
 bool NavEKF_core::getPosD(float &posD) const
 {
     // The EKF always has a height estimate regardless of mode of operation

libraries/AP_NavEKF/AP_NavEKF_core.h

@@ -114,12 +114,12 @@ public:
     // Check basic filter health metrics and return a consolidated health status
     bool healthy(void) const;
 
-    // Return the last calculated NE position relative to the reference point (m).
+    // Write the last calculated NE position relative to the reference point (m).
     // If a calculated solution is not available, use the best available data and return false
     // If false returned, do not use for flight control
     bool getPosNE(Vector2f &posNE) const;
 
-    // Return the last calculated D position relative to the reference point (m).
+    // Write the last calculated D position relative to the reference point (m).
     // If a calculated solution is not available, use the best available data and return false
     // If false returned, do not use for flight control
     bool getPosD(float &posD) const;