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AP_NavEKF3: minor format and spelling fixes
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231a958e51
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libraries/AP_NavEKF3
@ -275,7 +275,7 @@ void NavEKF3_core::setAidingMode()
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// Check if the loss of position accuracy has become critical
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bool posAidLossCritical = false;
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if (!posAiding ) {
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if (!posAiding) {
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uint16_t maxLossTime_ms;
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if (!velAiding) {
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maxLossTime_ms = frontend->posRetryTimeNoVel_ms;
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@ -850,7 +850,7 @@ void NavEKF3_core::FuseVelPosNED()
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Kfusion[i] = P[i][stateIndex]*SK;
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}
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// inhibit delta angle bias state estmation by setting Kalman gains to zero
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// inhibit delta angle bias state estimation by setting Kalman gains to zero
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if (!inhibitDelAngBiasStates) {
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for (uint8_t i = 10; i<=12; i++) {
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Kfusion[i] = P[i][stateIndex]*SK;
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@ -892,8 +892,7 @@ void NavEKF3_core::FuseVelPosNED()
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// update the covariance - take advantage of direct observation of a single state at index = stateIndex to reduce computations
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// this is a numerically optimised implementation of standard equation P = (I - K*H)*P;
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for (uint8_t i= 0; i<=stateIndexLim; i++) {
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for (uint8_t j= 0; j<=stateIndexLim; j++)
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{
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for (uint8_t j= 0; j<=stateIndexLim; j++) {
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KHP[i][j] = Kfusion[i] * P[stateIndex][j];
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}
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}
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@ -1838,9 +1837,7 @@ void NavEKF3_core::SelectBodyOdomFusion()
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// Fuse data into the main filter
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FuseBodyVel();
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}
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}
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}
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