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fix ekf2 saved mag bias comments (mGauss -> Gauss)

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This commit is contained in:
Nicolas Martin
2020-10-26 00:43:20 -04:00
committed by Daniel Agar
parent 8435742dd5
commit 948bed6b5c
3 changed files with 11 additions and 11 deletions
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src/lib/parameters/px4params/srcparser.py
+1 -1
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@@ -352,7 +352,7 @@ class SourceParser(object):
'rad', '%/rad', 'rad/s', 'rad/s^2', '%/rad/s', 'rad s^2/m','rad s/m',
'bit/s', 'B/s',
'deg', 'deg*1e7', 'deg/s',
'celcius', 'gauss', 'gauss/s', 'mgauss', 'mgauss^2',
'celcius', 'gauss', 'gauss/s', 'gauss^2',
'hPa', 'kg', 'kg/m^2', 'kg m^2',
'mm', 'm', 'm/s', 'm^2', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', 'm/s/rad',
'Ohm', 'V',
src/modules/ekf2/EKF2.hpp
+6 -6
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@@ -149,9 +149,9 @@ private:
hrt_abstime _last_magcal_us = 0; ///< last time the EKF was operating a mode that estimates magnetomer biases (uSec)
hrt_abstime _total_cal_time_us = 0; ///< accumulated calibration time since the last save
float _last_valid_mag_cal[3] = {}; ///< last valid XYZ magnetometer bias estimates (mGauss)
float _last_valid_mag_cal[3] = {}; ///< last valid XYZ magnetometer bias estimates (Gauss)
bool _valid_cal_available[3] = {}; ///< true when an unsaved valid calibration for the XYZ magnetometer bias is available
float _last_valid_variance[3] = {}; ///< variances for the last valid magnetometer XYZ bias estimates (mGauss**2)
float _last_valid_variance[3] = {}; ///< variances for the last valid magnetometer XYZ bias estimates (Gauss**2)
// Used to control saving of mag declination to be used on next startup
bool _mag_decl_saved = false; ///< true when the magnetic declination has been saved
@@ -409,13 +409,13 @@ private:
_param_ekf2_angerr_init, ///< 1-sigma tilt error after initial alignment using gravity vector (rad)
// EKF saved XYZ magnetometer bias values
(ParamFloat<px4::params::EKF2_MAGBIAS_X>) _param_ekf2_magbias_x, ///< X magnetometer bias (mGauss)
(ParamFloat<px4::params::EKF2_MAGBIAS_Y>) _param_ekf2_magbias_y, ///< Y magnetometer bias (mGauss)
(ParamFloat<px4::params::EKF2_MAGBIAS_Z>) _param_ekf2_magbias_z, ///< Z magnetometer bias (mGauss)
(ParamFloat<px4::params::EKF2_MAGBIAS_X>) _param_ekf2_magbias_x, ///< X magnetometer bias (Gauss)
(ParamFloat<px4::params::EKF2_MAGBIAS_Y>) _param_ekf2_magbias_y, ///< Y magnetometer bias (Gauss)
(ParamFloat<px4::params::EKF2_MAGBIAS_Z>) _param_ekf2_magbias_z, ///< Z magnetometer bias (Gauss)
(ParamInt<px4::params::EKF2_MAGBIAS_ID>)
_param_ekf2_magbias_id, ///< ID of the magnetometer sensor used to learn the bias values
(ParamFloat<px4::params::EKF2_MAGB_VREF>)
_param_ekf2_magb_vref, ///< Assumed error variance of previously saved magnetometer bias estimates (mGauss**2)
_param_ekf2_magb_vref, ///< Assumed error variance of previously saved magnetometer bias estimates (Gauss**2)
(ParamFloat<px4::params::EKF2_MAGB_K>)
_param_ekf2_magb_k, ///< maximum fraction of the learned magnetometer bias that is saved at each disarm
src/modules/ekf2/ekf2_params.c
+4 -4
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@@ -1072,7 +1072,7 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_PITCH, 0.0f);
* @reboot_required true
* @volatile
* @category system
* @unit mgauss
* @unit gauss
* @decimal 3
*/
PARAM_DEFINE_FLOAT(EKF2_MAGBIAS_X, 0.0f);
@@ -1087,7 +1087,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAGBIAS_X, 0.0f);
* @reboot_required true
* @volatile
* @category system
* @unit mgauss
* @unit gauss
* @decimal 3
*/
PARAM_DEFINE_FLOAT(EKF2_MAGBIAS_Y, 0.0f);
@@ -1102,7 +1102,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAGBIAS_Y, 0.0f);
* @reboot_required true
* @volatile
* @category system
* @unit mgauss
* @unit gauss
* @decimal 3
*/
PARAM_DEFINE_FLOAT(EKF2_MAGBIAS_Z, 0.0f);
@@ -1122,7 +1122,7 @@ PARAM_DEFINE_INT32(EKF2_MAGBIAS_ID, 0);
*
* @group EKF2
* @reboot_required true
* @unit mgauss^2
* @unit gauss^2
* @decimal 8
*/
PARAM_DEFINE_FLOAT(EKF2_MAGB_VREF, 2.5E-7f);