From b255d4a53ab3061e0aee91aea82859b362b191d3 Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Mon, 12 Jun 2017 12:02:11 +0200 Subject: [PATCH] fixed typos --- EKF/common.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/EKF/common.h b/EKF/common.h index 45b3a7559d..022545732f 100644 --- a/EKF/common.h +++ b/EKF/common.h @@ -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