fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 05:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

fixed typos (#147)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
EKF/mag_fusion.cpp
+3 -3
View File
@@ -86,7 +86,7 @@ void Ekf::fuseMag()
float H_MAG[3][24] = {};
float Kfusion[24] = {};
// Calculate observation Jacobians and kalman gains for each magentoemter axis
// Calculate observation Jacobians and kalman gains for each magnetometer axis
// X Axis
H_MAG[0][0] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2;
H_MAG[0][1] = SH_MAG[0];
@@ -108,7 +108,7 @@ void Ekf::fuseMag()
_fault_status.flags.bad_mag_x = false;
} else {
// the innovation variance contribution from the state covariances is negtive which means the covariance matrix is badly conditioned
// the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned
_fault_status.flags.bad_mag_x = true;
// we need to reinitialise the covariance matrix and abort this fusion step
initialiseCovariance();
@@ -190,7 +190,7 @@ void Ekf::fuseMag()
return;
}
// update the states and covariance usinng sequential fusion of the magnetometer components
// update the states and covariance using sequential fusion of the magnetometer components
for (uint8_t index = 0; index <= 2; index++) {
// Calculate Kalman gains
if (index == 0) {