mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF2: Fix documentation errors
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@ -727,6 +727,7 @@ bool NavEKF::use_compass(void) const
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// rawGyroRates are the sensor rotation rates in rad/sec measured by the sensors internal gyro
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// rawGyroRates are the sensor rotation rates in rad/sec measured by the sensors internal gyro
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// The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate
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// The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate
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// msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor.
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// msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor.
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// NOTE: AP_NavEKF does not use the posOffset data
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void NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, Vector3f &posOffset)
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void NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, Vector3f &posOffset)
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{
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{
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if (core) {
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if (core) {
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@ -499,7 +499,6 @@ void NavEKF2_core::readGpsData()
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}
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}
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// convert GPS measurements to local NED and save to buffer to be fused later if we have a valid origin
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// convert GPS measurements to local NED and save to buffer to be fused later if we have a valid origin
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// correct for position offset of antenna in body frame
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if (validOrigin) {
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if (validOrigin) {
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gpsDataNew.pos = location_diff(EKF_origin, gpsloc);
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gpsDataNew.pos = location_diff(EKF_origin, gpsloc);
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gpsDataNew.hgt = 0.01f * (gpsloc.alt - EKF_origin.alt);
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gpsDataNew.hgt = 0.01f * (gpsloc.alt - EKF_origin.alt);
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