From 066392ef0247e010d8d10fb33fc6b5da21476227 Mon Sep 17 00:00:00 2001 From: kamilritz Date: Mon, 6 Jan 2020 12:55:38 +0100 Subject: [PATCH] Improve naming --- EKF/gps_checks.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/EKF/gps_checks.cpp b/EKF/gps_checks.cpp index c3a217c7d9..ea8931d939 100644 --- a/EKF/gps_checks.cpp +++ b/EKF/gps_checks.cpp @@ -145,12 +145,12 @@ bool Ekf::gps_is_good(const gps_message &gps) double lon = gps.lon * 1.0e-7; if (!_control_status.flags.in_air && _vehicle_at_rest) { // Calculate position movement since last measurement - float delta_posN = 0.0f; + float delta_pos_n = 0.0f; float delta_pos_e = 0.0f; // calculate position movement since last GPS fix if (_gps_pos_prev.timestamp > 0) { - map_projection_project(&_gps_pos_prev, lat, lon, &delta_posN, &delta_pos_e); + map_projection_project(&_gps_pos_prev, lat, lon, &delta_pos_n, &delta_pos_e); } else { // no previous position has been set @@ -160,7 +160,7 @@ bool Ekf::gps_is_good(const gps_message &gps) // Calculate the horizontal and vertical drift velocity components and limit to 10x the threshold const Vector3f vel_limit(_params.req_hdrift, _params.req_hdrift, _params.req_vdrift); - Vector3f pos_derived(delta_posN, delta_pos_e, (_gps_alt_prev - 1e-3f * (float)gps.alt)); + Vector3f pos_derived(delta_pos_n, delta_pos_e, (_gps_alt_prev - 1e-3f * (float)gps.alt)); pos_derived = matrix::constrain(pos_derived / dt, -10.0f * vel_limit, 10.0f * vel_limit); // Apply a low pass filter