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EKF: Correct units in comments

This commit is contained in:
Paul Riseborough 2017-07-25 09:15:25 +10:00
parent 33e8d5923f
commit f3909244f0
2 changed files with 2 additions and 2 deletions
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2
EKF/common.h
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@ -311,7 +311,7 @@ struct parameters {
///< the EKF will report that it is dead-reckoning (uSec)
// multi-rotor drag specific force fusion
float drag_noise{2.5f}; ///< observation noise for drag specific force measurements (m/sec**2)
float drag_noise{2.5f}; ///< observation noise variance for drag specific force measurements (m/sec**2)**2
float bcoef_x{25.0f}; ///< ballistic coefficient along the X-axis (kg/m**2)
float bcoef_y{25.0f}; ///< ballistic coefficient along the Y-axis (kg/m**2)

2
EKF/drag_fusion.cpp
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@ -48,7 +48,7 @@ void Ekf::fuseDrag()
float H_ACC[24] = {}; // Observation Jacobian
float SK_ACC[9] = {}; // Variable used to optimise calculations of the Kalman gain vector
float Kfusion[24] = {}; // Kalman gain vector
float R_ACC = _params.drag_noise; // observation noise in specific force drag (m/sec**2)
float R_ACC = _params.drag_noise; // observation noise variance in specific force drag (m/sec**2)**2
float rho = fmaxf(_air_density, 0.1f); // air density (kg/m**3)