From 8250fe494356930437873018bb2e296eb8546b95 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Mon, 10 Apr 2017 14:24:45 +0900
Subject: [PATCH] AP_NavEKF3: fix documentation derivation references

---
 libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp | 4 ++--
 libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp     | 6 +++---
 libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp | 2 +-
 libraries/AP_NavEKF3/AP_NavEKF3_core.cpp          | 2 +-
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
index b66765ff1e..6ff88945e8 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
@@ -22,7 +22,7 @@ extern const AP_HAL::HAL& hal;
 /*
  * Fuse true airspeed measurements using explicit algebraic equations generated with Matlab symbolic toolbox.
  * The script file used to generate these and other equations in this filter can be found here:
- * https://github.com/priseborough/InertialNav/blob/master/derivations/RotationVectorAttitudeParameterisation/GenerateNavFilterEquations.m
+ * https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m
 */
 void NavEKF3_core::FuseAirspeed()
 {
@@ -240,7 +240,7 @@ void NavEKF3_core::SelectBetaFusion()
 /*
  * Fuse sythetic sideslip measurement of zero using explicit algebraic equations generated with Matlab symbolic toolbox.
  * The script file used to generate these and other equations in this filter can be found here:
- * https://github.com/priseborough/InertialNav/blob/master/derivations/RotationVectorAttitudeParameterisation/GenerateNavFilterEquations.m
+ * https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m
 */
 void NavEKF3_core::FuseSideslip()
 {
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
index 62660f435f..82ef731ef7 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
@@ -310,7 +310,7 @@ void NavEKF3_core::SelectMagFusion()
 /*
  * Fuse magnetometer measurements using explicit algebraic equations generated with Matlab symbolic toolbox.
  * The script file used to generate these and other equations in this filter can be found here:
- * https://github.com/priseborough/InertialNav/blob/master/derivations/RotationVectorAttitudeParameterisation/GenerateNavFilterEquations.m
+ * https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m
 */
 void NavEKF3_core::FuseMagnetometer()
 {
@@ -703,7 +703,7 @@ void NavEKF3_core::FuseMagnetometer()
 /*
  * Fuse magnetic heading measurement using explicit algebraic equations generated with Matlab symbolic toolbox.
  * The script file used to generate these and other equations in this filter can be found here:
- * https://github.com/priseborough/InertialNav/blob/master/derivations/RotationVectorAttitudeParameterisation/GenerateNavFilterEquations.m
+ * https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m
  * This fusion method only modifies the orientation, does not require use of the magnetic field states and is computationally cheaper.
  * It is suitable for use when the external magnetic field environment is disturbed (eg close to metal structures, on ground).
  * It is not as robust to magnetometer failures.
@@ -930,7 +930,7 @@ void NavEKF3_core::fuseEulerYaw()
 /*
  * Fuse declination angle using explicit algebraic equations generated with Matlab symbolic toolbox.
  * The script file used to generate these and other equations in this filter can be found here:
- * https://github.com/priseborough/InertialNav/blob/master/derivations/RotationVectorAttitudeParameterisation/GenerateNavFilterEquations.m
+ * https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m
  * This is used to prevent the declination of the EKF earth field states from drifting during operation without GPS
  * or some other absolute position or velocity reference
 */
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
index 13ccbc17f0..adc45ddf15 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
@@ -260,7 +260,7 @@ void NavEKF3_core::EstimateTerrainOffset()
 /*
  * Fuse angular motion compensated optical flow rates using explicit algebraic equations generated with Matlab symbolic toolbox.
  * The script file used to generate these and other equations in this filter can be found here:
- * https://github.com/priseborough/InertialNav/blob/master/derivations/RotationVectorAttitudeParameterisation/GenerateNavFilterEquations.m
+ * https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m
  * Requires a valid terrain height estimate.
 */
 void NavEKF3_core::FuseOptFlow()
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index 8e5d4e99b5..5fe564e312 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -800,7 +800,7 @@ void NavEKF3_core::calcOutputStates()
 /*
  * Calculate the predicted state covariance matrix using algebraic equations generated with Matlab symbolic toolbox.
  * The script file used to generate these and other equations in this filter can be found here:
- * https://github.com/priseborough/InertialNav/blob/master/derivations/RotationVectorAttitudeParameterisation/GenerateNavFilterEquations.m
+ * https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m
 */
 void NavEKF3_core::CovariancePrediction()
 {