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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/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