From 1b394460a39b6f69b913383e0b9e66527f617650 Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Tue, 21 Jun 2016 13:53:33 +0200 Subject: [PATCH] fix comment about filter bias states Signed-off-by: Roman Bapst --- EKF/common.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/EKF/common.h b/EKF/common.h index df67565cd7..ff60323380 100644 --- a/EKF/common.h +++ b/EKF/common.h @@ -359,8 +359,8 @@ struct stateSample { Quaternion quat_nominal; // quaternion defining the rotaton from earth to body frame Vector3f vel; // NED velocity in earth frame in m/s Vector3f pos; // NED position in earth frame in m - Vector3f gyro_bias; // gyro bias estimate in rad/s - Vector3f accel_bias; // accelerometer bias estimate in m/s + Vector3f gyro_bias; // delta angle bias estimate in rad + Vector3f accel_bias; // delta velocity bias estimate in m/s Vector3f mag_I; // NED earth magnetic field in gauss Vector3f mag_B; // magnetometer bias estimate in body frame in gauss Vector2f wind_vel; // wind velocity in m/s