From b0cf45e2d2436bde0bdae802b0597bb581a4b124 Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Thu, 10 Dec 2020 12:33:52 +0100
Subject: [PATCH] gps_alt: rename getGpsAltVar -> getGpsHeightVariance

---
 EKF/control.cpp    | 2 +-
 EKF/covariance.cpp | 2 +-
 EKF/ekf.h          | 2 +-
 EKF/ekf_helper.cpp | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/EKF/control.cpp b/EKF/control.cpp
index 8d9b00b7bd..ed76c909e2 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -1103,7 +1103,7 @@ void Ekf::controlHeightFusion()
 			Vector3f gps_hgt_obs_var;
 			// vertical position innovation - gps measurement has opposite sign to earth z axis
 			_gps_pos_innov(2) = _state.pos(2) + _gps_sample_delayed.hgt - _gps_alt_ref - _hgt_sensor_offset;
-			gps_hgt_obs_var(2) = getGpsAltVar();
+			gps_hgt_obs_var(2) = getGpsHeightVariance();
 			// innovation gate size
 			gps_hgt_innov_gate(1) = fmaxf(_params.baro_innov_gate, 1.0f);
 			// fuse height information
diff --git a/EKF/covariance.cpp b/EKF/covariance.cpp
index 25238345c5..c493b46bb4 100644
--- a/EKF/covariance.cpp
+++ b/EKF/covariance.cpp
@@ -74,7 +74,7 @@ void Ekf::initialiseCovariance()
 		P(9,9) = sq(fmaxf(_params.range_noise, 0.01f));
 
 	} else if (_control_status.flags.gps_hgt) {
-		P(9,9) = getGpsAltVar();
+		P(9,9) = getGpsHeightVariance();
 
 	} else {
 		P(9,9) = sq(fmaxf(_params.baro_noise, 0.01f));
diff --git a/EKF/ekf.h b/EKF/ekf.h
index cc2866025a..eecf719090 100644
--- a/EKF/ekf.h
+++ b/EKF/ekf.h
@@ -852,7 +852,7 @@ private:
 	void updateBaroHgtOffset();
 
 	// return an estimation of the GPS altitude variance
-	float getGpsAltVar();
+	float getGpsHeightVariance();
 
 	// calculate the measurement variance for the optical flow sensor
 	float calcOptFlowMeasVar();
diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp
index 30ef13635f..4234cb1d52 100644
--- a/EKF/ekf_helper.cpp
+++ b/EKF/ekf_helper.cpp
@@ -1244,7 +1244,7 @@ void Ekf::updateBaroHgtOffset()
 	}
 }
 
-float Ekf::getGpsAltVar()
+float Ekf::getGpsHeightVariance()
 {
 	// observation variance - receiver defined and parameter limited
 	const float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);