Merge branch 'master' into export-build

2026-10-15 14:23:34 +08:00 · 2013-04-26 11:27:26 -07:00
parent 8224adf52a 556a017444
commit 3acdc9d4ce
70 changed files with 4535 additions and 280 deletions
@@ -355,6 +355,8 @@ int KalmanNav::predictState(float dt)
 		float LDot = vN / R;
 		float lDot = vE / (cosLSing * R);
 		float rotRate = 2 * omega + lDot;
+
+		// XXX position prediction using speed
 		float vNDot = fN - vE * rotRate * sinL +
 			      vD * LDot;
 		float vDDot = fD - vE * rotRate * cosL -