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fixed typos

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CarlOlsson 2017-06-12 12:02:11 +02:00 committed by Lorenz Meier
parent 97eb17a62f
commit b255d4a53a
1 changed files with 3 additions and 3 deletions
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6
EKF/common.h
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@ -266,7 +266,7 @@ struct parameters {
float flow_innov_gate{3.0f}; // optical flow fusion innovation consistency gate size (STD)
float flow_rate_max{2.5f}; // maximum valid optical flow rate (rad/sec)
// these parameters control the strictness of GPS quality checks used to determine uf the GPS is
// these parameters control the strictness of GPS quality checks used to determine if the GPS is
// good enough to set a local origin and commence aiding
int32_t gps_check_mask{21}; // bitmask used to control which GPS quality checks are used
float req_hacc{5.0f}; // maximum acceptable horizontal position error
@ -290,8 +290,8 @@ struct parameters {
// accel bias learning control
float acc_bias_lim{0.4f}; // maximum accel bias magnitude (m/s/s)
float acc_bias_learn_acc_lim{25.0f}; // learning is disabled if the magnitude of the IMU acceleration vector is greeater than this (m/sec**2)
float acc_bias_learn_gyr_lim{3.0f}; // learning is disabled if the magnitude of the IMU angular rate vector is greeater than this (rad/sec)
float acc_bias_learn_acc_lim{25.0f}; // learning is disabled if the magnitude of the IMU acceleration vector is greater than this (m/sec**2)
float acc_bias_learn_gyr_lim{3.0f}; // learning is disabled if the magnitude of the IMU angular rate vector is greater than this (rad/sec)
float acc_bias_learn_tc{0.5f}; // time constant used to control the decaying envelope filters applied to the accel and gyro magnitudes (sec)
unsigned no_gps_timeout_max{7000000}; // maximum time we allow dead reckoning while both gps position and velocity measurements are being