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AP_NavEKF2 : correct variable typo

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receverPosDownMax -> receiverPosDownMax
receverPosDownMin -> receiverPosDownMin
This commit is contained in:
VMsunghwan 2022-01-15 15:13:44 +09:00 committed by Randy Mackay
parent 721ede206d
commit bd76c30768
1 changed files with 8 additions and 8 deletions
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16
libraries/AP_NavEKF2/AP_NavEKF2_RngBcnFusion.cpp
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@ -323,18 +323,18 @@ void NavEKF2_core::FuseRngBcnStatic()
ftype delta = receiverPos.z - bcnMidPosD;
// calcuate the two hypothesis for our vertical position
ftype receverPosDownMax;
ftype receverPosDownMin;
ftype receiverPosDownMax;
ftype receiverPosDownMin;
if (delta >= 0.0f) {
receverPosDownMax = receiverPos.z;
receverPosDownMin = receiverPos.z - 2.0f * delta;
receiverPosDownMax = receiverPos.z;
receiverPosDownMin = receiverPos.z - 2.0f * delta;
} else {
receverPosDownMax = receiverPos.z - 2.0f * delta;
receverPosDownMin = receiverPos.z;
receiverPosDownMax = receiverPos.z - 2.0f * delta;
receiverPosDownMin = receiverPos.z;
}
bcnPosOffsetMax = stateStruct.position.z - receverPosDownMin;
bcnPosOffsetMin = stateStruct.position.z - receverPosDownMax;
bcnPosOffsetMax = stateStruct.position.z - receiverPosDownMin;
bcnPosOffsetMin = stateStruct.position.z - receiverPosDownMax;
} else {
// We are using the beacons as the primary height reference, so don't modify their vertical position
bcnPosOffset = 0.0f;