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AP_AHRS: minor comment fix and move var_info lower

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This commit is contained in:
Randy Mackay 2020-04-01 10:08:35 +09:00
parent 24bb4876a8
commit e1c623183e
1 changed files with 5 additions and 4 deletions
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9
libraries/AP_AHRS/AP_AHRS.h
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@ -228,10 +228,10 @@ public:
// since last call
virtual float get_error_yaw(void) const = 0;
// return a DCM rotation matrix representing our current attitude
// return a DCM rotation matrix representing our current attitude in NED frame
virtual const Matrix3f &get_rotation_body_to_ned(void) const = 0;
// return a Quaternion representing our current attitude
// return a Quaternion representing our current attitude in NED frame
void get_quat_body_to_ned(Quaternion &quat) const {
quat.from_rotation_matrix(get_rotation_body_to_ned());
}
@ -392,8 +392,6 @@ public:
return _sin_yaw;
}
// for holding parameters
static const struct AP_Param::GroupInfo var_info[];
// return secondary attitude solution if available, as eulers in radians
virtual bool get_secondary_attitude(Vector3f &eulers) const WARN_IF_UNUSED {
@ -561,6 +559,9 @@ public:
return _rsem;
}
// for holding parameters
static const struct AP_Param::GroupInfo var_info[];
protected:
void update_nmea_out();