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matlab: Allow replay to handle late start GPS data in log

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Also minor fix to comments.
This commit is contained in:
Paul Riseborough
2017-07-24 16:34:50 +10:00
parent e18f92d9c2
commit 33e8d5923f
2 changed files with 45 additions and 43 deletions
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matlab/scripts/Inertial Nav EKF/quat2yaw312.m
+1 -1
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@@ -21,7 +21,7 @@ syms q0 q1 q2 q3 'real'
% function of the quaternions
Tbn_quat = Quat2Tbn([q0;q1;q2;q3]);
% calculate the y,x terms required for calculation fo the yaw angle
% collect the y,x terms required for calculation of the yaw angle
yaw_input_312 = [-Tbn_quat(1,2);Tbn_quat(2,2)];
% convert to c code and save