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AP_NavEKF3 : correct typo 

receverPosDownMax -> receiverPosDownMax
receverPosDownMin -> receiverPosDownMin
calcuate -> calculate
This commit is contained in:
VMsunghwan 2022-01-15 15:33:11 +09:00 committed by Randy Mackay
parent b34d28fc7a
commit db9c1bbfaf
1 changed files with 9 additions and 9 deletions
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18
libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
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@ -360,19 +360,19 @@ void NavEKF3_core::FuseRngBcnStatic()
// calculate the delta to the estimated receiver position
ftype delta = receiverPos.z - bcnMidPosD;
// calcuate the two hypothesis for our vertical position
ftype receverPosDownMax;
ftype receverPosDownMin;
// calculate the two hypothesis for our vertical position
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;
}
bcnPosDownOffsetMax = stateStruct.position.z - receverPosDownMin;
bcnPosDownOffsetMin = stateStruct.position.z - receverPosDownMax;
bcnPosDownOffsetMax = stateStruct.position.z - receiverPosDownMin;
bcnPosDownOffsetMin = stateStruct.position.z - receiverPosDownMax;
} else {
// We are using the beacons as the primary height reference, so don't modify their vertical position
bcnPosOffsetNED.z = 0.0f;