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AP_GPS: Fix some typos

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Fixed some typos found in the code.
This commit is contained in:
Mykhailo Kuznietsov 2023-10-11 18:41:53 +11:00 committed by Peter Barker
parent 3acd0b3817
commit 3a7e939a6c
5 changed files with 9 additions and 9 deletions
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6
libraries/AP_GPS/AP_GPS.cpp
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@ -1482,7 +1482,7 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
ground_speed(0)*100, // cm/s ground_speed(0)*100, // cm/s
ground_course(0)*100, // 1/100 degrees, ground_course(0)*100, // 1/100 degrees,
num_sats(0), num_sats(0),
height_elipsoid_mm, // Elipsoid height in mm height_elipsoid_mm, // Ellipsoid height in mm
hacc * 1000, // one-sigma standard deviation in mm hacc * 1000, // one-sigma standard deviation in mm
vacc * 1000, // one-sigma standard deviation in mm vacc * 1000, // one-sigma standard deviation in mm
sacc * 1000, // one-sigma standard deviation in mm/s sacc * 1000, // one-sigma standard deviation in mm/s
@ -1525,7 +1525,7 @@ void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
state[1].rtk_num_sats, state[1].rtk_num_sats,
state[1].rtk_age_ms, state[1].rtk_age_ms,
gps_yaw_cdeg(1), gps_yaw_cdeg(1),
height_elipsoid_mm, // Elipsoid height in mm height_elipsoid_mm, // Ellipsoid height in mm
hacc * 1000, // one-sigma standard deviation in mm hacc * 1000, // one-sigma standard deviation in mm
vacc * 1000, // one-sigma standard deviation in mm vacc * 1000, // one-sigma standard deviation in mm
sacc * 1000, // one-sigma standard deviation in mm/s sacc * 1000, // one-sigma standard deviation in mm/s
@ -1703,7 +1703,7 @@ void AP_GPS::Write_AP_Logger_Log_Startup_messages()
*/ */
bool AP_GPS::get_lag(uint8_t instance, float &lag_sec) const bool AP_GPS::get_lag(uint8_t instance, float &lag_sec) const
{ {
// always enusre a lag is provided // always ensure a lag is provided
lag_sec = 0.1f; lag_sec = 0.1f;
if (instance >= GPS_MAX_INSTANCES) { if (instance >= GPS_MAX_INSTANCES) {

2
libraries/AP_GPS/AP_GPS_DroneCAN.cpp
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@ -800,7 +800,7 @@ void AP_GPS_DroneCAN::inject_data(const uint8_t *data, uint16_t len)
{ {
// we only handle this if we are the first DroneCAN GPS or we are // we only handle this if we are the first DroneCAN GPS or we are
// using a different uavcan instance than the first GPS, as we // using a different uavcan instance than the first GPS, as we
// send the data as broadcast on all DroneCAN devive ports and we // send the data as broadcast on all DroneCAN device ports and we
// don't want to send duplicates // don't want to send duplicates
const uint32_t now_ms = AP_HAL::millis(); const uint32_t now_ms = AP_HAL::millis();
if (_detected_module == 0 || if (_detected_module == 0 ||

2
libraries/AP_GPS/AP_GPS_NMEA.cpp
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@ -629,7 +629,7 @@ bool AP_GPS_NMEA::_term_complete()
// //
case _GPS_SENTENCE_RMC + 7: // Speed (GPRMC) case _GPS_SENTENCE_RMC + 7: // Speed (GPRMC)
case _GPS_SENTENCE_VTG + 5: // Speed (VTG) case _GPS_SENTENCE_VTG + 5: // Speed (VTG)
_new_speed = (_parse_decimal_100(_term) * 514) / 1000; // knots-> m/sec, approximiates * 0.514 _new_speed = (_parse_decimal_100(_term) * 514) / 1000; // knots-> m/sec, approximates * 0.514
break; break;
case _GPS_SENTENCE_HDT + 1: // Course (HDT) case _GPS_SENTENCE_HDT + 1: // Course (HDT)
_new_gps_yaw = _parse_decimal_100(_term); _new_gps_yaw = _parse_decimal_100(_term);

2
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -1102,7 +1102,7 @@ AP_GPS_UBLOX::_parse_gps(void)
} }
if(GNSS_GALILEO ==_buffer.gnss.configBlock[i].gnssId) { if(GNSS_GALILEO ==_buffer.gnss.configBlock[i].gnssId) {
_buffer.gnss.configBlock[i].resTrkCh = (_buffer.gnss.numTrkChHw - 3) / (gnssCount * 2); _buffer.gnss.configBlock[i].resTrkCh = (_buffer.gnss.numTrkChHw - 3) / (gnssCount * 2);
_buffer.gnss.configBlock[i].maxTrkCh = 8; //Per the M8 receiver description UBX-13003221 - R16, 4.1.1.3 it is not recommended to set the number of galileo channels higher then eigh _buffer.gnss.configBlock[i].maxTrkCh = 8; //Per the M8 receiver description UBX-13003221 - R16, 4.1.1.3 it is not recommended to set the number of galileo channels higher then eight
} }
} }
_buffer.gnss.configBlock[i].flags = _buffer.gnss.configBlock[i].flags | 0x00000001; _buffer.gnss.configBlock[i].flags = _buffer.gnss.configBlock[i].flags | 0x00000001;

6
libraries/AP_GPS/GPS_Backend.cpp
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@ -350,14 +350,14 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state,
const float min_dist = MIN(offset_dist, reported_distance); const float min_dist = MIN(offset_dist, reported_distance);
if (offset_dist < minimum_antenna_seperation) { if (offset_dist < minimum_antenna_seperation) {
// offsets have to be sufficently large to get a meaningful angle off of them // offsets have to be sufficiently large to get a meaningful angle off of them
Debug("Insufficent antenna offset (%f, %f, %f)", (double)offset.x, (double)offset.y, (double)offset.z); Debug("Insufficent antenna offset (%f, %f, %f)", (double)offset.x, (double)offset.y, (double)offset.z);
goto bad_yaw; goto bad_yaw;
} }
if (reported_distance < minimum_antenna_seperation) { if (reported_distance < minimum_antenna_seperation) {
// if the reported distance is less then the minimum seperation it's not sufficently robust // if the reported distance is less then the minimum separation it's not sufficiently robust
Debug("Reported baseline distance (%f) was less then the minimum antenna seperation (%f)", Debug("Reported baseline distance (%f) was less then the minimum antenna separation (%f)",
(double)reported_distance, (double)minimum_antenna_seperation); (double)reported_distance, (double)minimum_antenna_seperation);
goto bad_yaw; goto bad_yaw;
} }