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AP_NavEKF: minor comment fix 

No functional change
This commit is contained in:
Randy Mackay 2015-09-24 15:23:20 +09:00
parent 51fb13a329
commit b5c49e0792
2 changed files with 11 additions and 10 deletions
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11
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

@ -4516,8 +4516,9 @@ Quaternion NavEKF::calcQuatAndFieldStates(float roll, float pitch)
// store the yaw change so that it can be retrieved externally for use by the control loops to prevent yaw disturbances following a reset // store the yaw change so that it can be retrieved externally for use by the control loops to prevent yaw disturbances following a reset
Vector3f tempEuler; Vector3f tempEuler;
state.quat.to_euler(tempEuler.x, tempEuler.y, tempEuler.z); state.quat.to_euler(tempEuler.x, tempEuler.y, tempEuler.z);
// this check ensures we accumulate the resets that occur within a single iteration of the EKF
if (imuSampleTime_ms != lastYawReset_ms) { if (imuSampleTime_ms != lastYawReset_ms) {
yawResetAngle = 0; yawResetAngle = 0.0f;
} }
yawResetAngle += wrap_PI(yaw - tempEuler.z); yawResetAngle += wrap_PI(yaw - tempEuler.z);
lastYawReset_ms = imuSampleTime_ms; lastYawReset_ms = imuSampleTime_ms;
@ -4877,9 +4878,9 @@ return the filter fault status as a bitmasked integer
1 = velocities are NaN 1 = velocities are NaN
2 = badly conditioned X magnetometer fusion 2 = badly conditioned X magnetometer fusion
3 = badly conditioned Y magnetometer fusion 3 = badly conditioned Y magnetometer fusion
5 = badly conditioned Z magnetometer fusion 4 = badly conditioned Z magnetometer fusion
6 = badly conditioned airspeed fusion 5 = badly conditioned airspeed fusion
7 = badly conditioned synthetic sideslip fusion 6 = badly conditioned synthetic sideslip fusion
7 = filter is not initialised 7 = filter is not initialised
*/ */
void NavEKF::getFilterFaults(uint8_t &faults) const void NavEKF::getFilterFaults(uint8_t &faults) const
@ -5400,7 +5401,7 @@ void NavEKF::alignMagStateDeclination()
} }
// return the amount of yaw angle change due to the last yaw angle reset in radians // return the amount of yaw angle change due to the last yaw angle reset in radians
// returns the system time at which the yaw angle was reset // returns the time of the last yaw angle reset or 0 if no reset has ever occurred
uint32_t NavEKF::getLastYawResetAngle(float &yawAng) uint32_t NavEKF::getLastYawResetAngle(float &yawAng)
{ {
yawAng = yawResetAngle; yawAng = yawResetAngle;

10
libraries/AP_NavEKF/AP_NavEKF.h
View File

@ -225,9 +225,9 @@ public:
1 = velocities are NaN 1 = velocities are NaN
2 = badly conditioned X magnetometer fusion 2 = badly conditioned X magnetometer fusion
3 = badly conditioned Y magnetometer fusion 3 = badly conditioned Y magnetometer fusion
5 = badly conditioned Z magnetometer fusion 4 = badly conditioned Z magnetometer fusion
6 = badly conditioned airspeed fusion 5 = badly conditioned airspeed fusion
7 = badly conditioned synthetic sideslip fusion 6 = badly conditioned synthetic sideslip fusion
7 = filter is not initialised 7 = filter is not initialised
*/ */
void getFilterFaults(uint8_t &faults) const; void getFilterFaults(uint8_t &faults) const;
@ -238,10 +238,10 @@ public:
1 = velocity measurement timeout 1 = velocity measurement timeout
2 = height measurement timeout 2 = height measurement timeout
3 = magnetometer measurement timeout 3 = magnetometer measurement timeout
4 = true airspeed measurement timeout
5 = unassigned 5 = unassigned
6 = unassigned 6 = unassigned
7 = unassigned 7 = unassigned
7 = unassigned
*/ */
void getFilterTimeouts(uint8_t &timeouts) const; void getFilterTimeouts(uint8_t &timeouts) const;
@ -259,7 +259,7 @@ public:
bool getHeightControlLimit(float &height) const; bool getHeightControlLimit(float &height) const;
// return the amount of yaw angle change due to the last yaw angle reset in radians // return the amount of yaw angle change due to the last yaw angle reset in radians
// returns the system time at which the yaw angle was reset // returns the time of the last yaw angle reset or 0 if no reset has ever occurred
uint32_t getLastYawResetAngle(float &yawAng); uint32_t getLastYawResetAngle(float &yawAng);
// report any reason for why the backend is refusing to initialise // report any reason for why the backend is refusing to initialise