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AP_NavEKF2: minor comment fixes

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Randy Mackay 2020-04-23 10:25:09 +09:00 committed by Andrew Tridgell
parent c1ef894a30
commit 0fb233ed4b
2 changed files with 4 additions and 4 deletions
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6
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -432,10 +432,10 @@ private:
AP_Int8 _flowUse; // Controls if the optical flow data is fused into the main navigation estimator and/or the terrain estimator.
AP_Int16 _mag_ef_limit; // limit on difference between WMM tables and learned earth field.
AP_Float _hrt_filt_freq; // frequency of output observer height rate complementary filter in Hz
AP_Int8 _gsfRunMask; // mask controlling which EKF3 instances run a separate EKF-GSF yaw estimator
AP_Int8 _gsfUseMask; // mask controlling which EKF3 instances will use EKF-GSF yaw estimator data to assit with yaw resets
AP_Int8 _gsfRunMask; // mask controlling which EKF2 instances run a separate EKF-GSF yaw estimator
AP_Int8 _gsfUseMask; // mask controlling which EKF2 instances will use EKF-GSF yaw estimator data to assit with yaw resets
AP_Int16 _gsfResetDelay; // number of mSec from loss of navigation to requesting a reset using EKF-GSF yaw estimator data
AP_Int8 _gsfResetMaxCount; // maximum number of times the EKF3 is allowed to reset it's yaw to the EKF-GSF estimate
AP_Int8 _gsfResetMaxCount; // maximum number of times the EKF2 is allowed to reset it's yaw to the EKF-GSF estimate
// Possible values for _flowUse
#define FLOW_USE_NONE 0

2
libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
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@ -1216,7 +1216,7 @@ void NavEKF2_core::recordMagReset()
// Reset states using yaw from EKF-GSF and velocity and position from GPS
bool NavEKF2_core::EKFGSF_resetMainFilterYaw()
{
// Don't do a reset unless permitted by the EK3_GSF_USE and EKF3_GSF_RUN parameter masks
// Don't do a reset unless permitted by the EK2_GSF_USE_MASK and EKF@_GSF_RUN_MASK parameter masks
if ((yawEstimator == nullptr)
|| !(frontend->_gsfUseMask & (1U<<core_index))
|| EKFGSF_yaw_reset_count >= frontend->_gsfResetMaxCount) {