aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Mount: Change misnomer (NFC)

Browse Source
This commit is contained in:
murata 2021-03-03 12:31:01 +09:00 committed by Peter Barker
parent 6e6e807223
commit e041b647d7
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_Mount/SoloGimbalEKF.cpp
View File

@ -886,7 +886,7 @@ float SoloGimbalEKF::calcMagHeadingInnov()
// Define rotation from magnetometer to NED axes // Define rotation from magnetometer to NED axes
Matrix3f Tmn = Tsn*Tms; Matrix3f Tmn = Tsn*Tms;
// rotate magentic field measured at top plate into NED axes afer applying bias values learnt by main EKF // rotate magnetic field measured at top plate into NED axes afer applying bias values learnt by main EKF
Vector3f magMeasNED = Tmn*(magData - body_magfield); Vector3f magMeasNED = Tmn*(magData - body_magfield);
// calculate the innovation where the predicted measurement is the angle wrt magnetic north of the horizontal component of the measured field // calculate the innovation where the predicted measurement is the angle wrt magnetic north of the horizontal component of the measured field