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fixed typos (#147)

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This commit is contained in:
Carl Olsson
2016-05-22 17:40:43 +02:00
committed by Lorenz Meier
parent dbe2513d48
commit 0fafc49a49
8 changed files with 28 additions and 28 deletions
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EKF/control.cpp
+5 -5
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@@ -62,7 +62,7 @@ void Ekf::controlFusionModes()
}
}
// control use of various external souces for position and velocity aiding
// control use of various external sources for position and velocity aiding
controlExternalVisionAiding();
controlOpticalFlowAiding();
controlGpsAiding();
@@ -151,7 +151,7 @@ void Ekf::controlOpticalFlowAiding()
float range = heightAboveGndEst / _R_to_earth(2, 2);
if ((range - _params.rng_gnd_clearance) > 0.3f && _flow_sample_delayed.dt > 0.05f) {
// we should ahve reliable OF measurements so
// we should have reliable OF measurements so
// calculate X and Y body relative velocities from OF measurements
Vector3f vel_optflow_body;
vel_optflow_body(0) = - range * _flow_sample_delayed.flowRadXYcomp(1) / _flow_sample_delayed.dt;
@@ -183,7 +183,7 @@ void Ekf::controlOpticalFlowAiding()
_state.pos(0) = 0.0f;
_state.pos(1) = 0.0f;
// reset the coresponding covariances
// reset the corresponding covariances
// we are by definition at the origin at commencement so variances are also zeroed
zeroRows(P,7,8);
zeroCols(P,7,8);
@@ -246,7 +246,7 @@ void Ekf::controlGpsAiding()
// We are relying on GPS aiding to constrain attitude drift so after 10 seconds without aiding we need to do something
if ((_time_last_imu - _time_last_pos_fuse > 10e6) && (_time_last_imu - _time_last_vel_fuse > 10e6)) {
if (_time_last_imu - _time_last_gps > 5e5) {
// if we don't have gps then we need to switch to the non-aiding mode, zero the veloity states
// if we don't have gps then we need to switch to the non-aiding mode, zero the velocity states
// and set the synthetic GPS position to the current estimate
_control_status.flags.gps = false;
_last_known_posNE(0) = _state.pos(0);
@@ -361,7 +361,7 @@ void Ekf::controlHeightSensorTimeouts()
// if GPS height is unavailable and baro data is available, reset height to baro
reset_to_baro = reset_to_baro || (!gps_hgt_available && baro_data_fresh);
// if we cannot switch to baro and GPs data is available, reset height to GPS
// if we cannot switch to baro and GPS data is available, reset height to GPS
bool reset_to_gps = !reset_to_baro && gps_hgt_available;
if (reset_to_baro) {