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Merge pull request #310 from PX4/pr-ekfFixComments

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EKF: Correct units in comments
This commit is contained in:
Paul Riseborough
2017-07-26 16:28:44 +10:00
committed by GitHub
parent 33e8d5923f f3909244f0
commit 74d1955dfa
2 changed files with 2 additions and 2 deletions
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EKF/common.h
+1 -1
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@@ -311,7 +311,7 @@ struct parameters {
///< the EKF will report that it is dead-reckoning (uSec)
// multi-rotor drag specific force fusion
float drag_noise{2.5f}; ///< observation noise for drag specific force measurements (m/sec**2)
float drag_noise{2.5f}; ///< observation noise variance for drag specific force measurements (m/sec**2)**2
float bcoef_x{25.0f}; ///< ballistic coefficient along the X-axis (kg/m**2)
float bcoef_y{25.0f}; ///< ballistic coefficient along the Y-axis (kg/m**2)
EKF/drag_fusion.cpp
+1 -1
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@@ -48,7 +48,7 @@ void Ekf::fuseDrag()
float H_ACC[24] = {}; // Observation Jacobian
float SK_ACC[9] = {}; // Variable used to optimise calculations of the Kalman gain vector
float Kfusion[24] = {}; // Kalman gain vector
float R_ACC = _params.drag_noise; // observation noise in specific force drag (m/sec**2)
float R_ACC = _params.drag_noise; // observation noise variance in specific force drag (m/sec**2)**2
float rho = fmaxf(_air_density, 0.1f); // air density (kg/m**3)