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EKF: fixed some comment typos
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
This commit is contained in:
Carl Olsson
+17
-17
@@ -154,7 +154,7 @@ void Ekf::controlFusionModes()
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void Ekf::controlExternalVisionFusion()
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{
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// Check for new exernal vision data
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// Check for new external vision data
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if (_ev_data_ready) {
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// if the ev data is not in a NED reference frame, then the transformation between EV and EKF navigation frames
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@@ -168,7 +168,7 @@ void Ekf::controlExternalVisionFusion()
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if ((_params.fusion_mode & MASK_USE_EVPOS) && !_control_status.flags.ev_pos && _control_status.flags.tilt_align
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&& _control_status.flags.yaw_align) {
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// check for a exernal vision measurement that has fallen behind the fusion time horizon
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// check for a external vision measurement that has fallen behind the fusion time horizon
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if ((_time_last_imu - _time_last_ext_vision) < (2 * EV_MAX_INTERVAL)) {
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// turn on use of external vision measurements for position
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_control_status.flags.ev_pos = true;
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@@ -196,7 +196,7 @@ void Ekf::controlExternalVisionFusion()
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if (!_control_status.flags.gps && (_params.fusion_mode & MASK_USE_EVYAW) && !_control_status.flags.ev_yaw && _control_status.flags.tilt_align) {
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// don't start using EV data unless daa is arriving frequently
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if (_time_last_imu - _time_last_ext_vision < 2 * EV_MAX_INTERVAL) {
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// reset the yaw angle to the value from the observaton quaternion
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// reset the yaw angle to the value from the observation quaternion
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// get the roll, pitch, yaw estimates from the quaternion states
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Quatf q_init(_state.quat_nominal);
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Eulerf euler_init(q_init);
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@@ -707,7 +707,7 @@ void Ekf::controlHeightSensorTimeouts()
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// Check for IMU accelerometer vibration induced clipping as evidenced by the vertical innovations being positive and not stale.
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// Clipping causes the average accel reading to move towards zero which makes the INS think it is falling and produces positive vertical innovations
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float var_product_lim = sq(_params.vert_innov_test_lim) * sq(_params.vert_innov_test_lim);
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bool bad_vert_accel = (_control_status.flags.baro_hgt && // we can only run this check if vertical position and velocity observations are indepedant
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bool bad_vert_accel = (_control_status.flags.baro_hgt && // we can only run this check if vertical position and velocity observations are independent
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(sq(_vel_pos_innov[5] * _vel_pos_innov[2]) > var_product_lim * (_vel_pos_innov_var[5] * _vel_pos_innov_var[2])) && // vertical position and velocity sensors are in agreement that we have a significant error
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(_vel_pos_innov[2] > 0.0f) && // positive innovation indicates that the inertial nav thinks it is falling
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((_imu_sample_delayed.time_us - _baro_sample_delayed.time_us) < 2 * BARO_MAX_INTERVAL) && // vertical position data is fresh
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@@ -730,7 +730,7 @@ void Ekf::controlHeightSensorTimeouts()
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_bad_vert_accel_detected = bad_vert_accel;
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}
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// check if height is continuously failing becasue of accel errors
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// check if height is continuously failing because of accel errors
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bool continuous_bad_accel_hgt = ((_time_last_imu - _time_good_vert_accel) > (unsigned)_params.bad_acc_reset_delay_us);
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// check if height has been inertial deadreckoning for too long
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@@ -962,7 +962,7 @@ void Ekf::controlHeightFusion()
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_fuse_height = true;
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// we have just switched to using range finder, calculate height sensor offset such that current
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// measurment matches our current height estimate
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// measurement matches our current height estimate
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if (_control_status_prev.flags.rng_hgt != _control_status.flags.rng_hgt) {
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if (get_terrain_valid()) {
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_hgt_sensor_offset = _terrain_vpos;
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@@ -998,7 +998,7 @@ void Ekf::controlHeightFusion()
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_fuse_height = true;
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// we have just switched to using gps height, calculate height sensor offset such that current
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// measurment matches our current height estimate
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// measurement matches our current height estimate
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if (_control_status_prev.flags.gps_hgt != _control_status.flags.gps_hgt) {
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_hgt_sensor_offset = _gps_sample_delayed.hgt - _gps_alt_ref + _state.pos(2);
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}
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@@ -1011,7 +1011,7 @@ void Ekf::controlHeightFusion()
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_fuse_height = _range_data_ready;
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// we have just switched to using range finder, calculate height sensor offset such that current
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// measurment matches our current height estimate
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// measurement matches our current height estimate
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if (_control_status_prev.flags.rng_hgt != _control_status.flags.rng_hgt) {
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// use the parameter rng_gnd_clearance if on ground to avoid a noisy offset initialization (e.g. sonar)
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if (_control_status.flags.in_air && get_terrain_valid()) {
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@@ -1047,7 +1047,7 @@ void Ekf::controlHeightFusion()
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_fuse_height = true;
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// we have just switched to using range finder, calculate height sensor offset such that current
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// measurment matches our current height estimate
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// measurement matches our current height estimate
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if (_control_status_prev.flags.rng_hgt != _control_status.flags.rng_hgt) {
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if (get_terrain_valid()) {
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_hgt_sensor_offset = _terrain_vpos;
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@@ -1062,7 +1062,7 @@ void Ekf::controlHeightFusion()
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_fuse_height = true;
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// we have just switched to using gps height, calculate height sensor offset such that current
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// measurment matches our current height estimate
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// measurement matches our current height estimate
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if (_control_status_prev.flags.gps_hgt != _control_status.flags.gps_hgt) {
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_hgt_sensor_offset = _gps_sample_delayed.hgt - _gps_alt_ref + _state.pos(2);
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}
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@@ -1307,7 +1307,7 @@ void Ekf::controlBetaFusion()
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// Perform synthetic sideslip fusion when in-air and sideslip fuson had been enabled externally in addition to the following criteria:
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// Suffient time has lapsed sice the last fusion
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// Sufficient time has lapsed sice the last fusion
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bool beta_fusion_time_triggered = ((_time_last_imu - _time_last_beta_fuse) > _params.beta_avg_ft_us);
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if (beta_fusion_time_triggered && _control_status.flags.fuse_beta && _control_status.flags.in_air) {
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@@ -1354,7 +1354,7 @@ void Ekf::controlMagFusion()
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{
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if (_params.mag_fusion_type >= MAG_FUSE_TYPE_NONE) {
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// do not use the magnetomer and deactivate magnetic field states
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// do not use the magnetometer and deactivate magnetic field states
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// save covariance data for re-use if currently doing 3-axis fusion
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if (_control_status.flags.mag_3D) {
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save_mag_cov_data();
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@@ -1456,9 +1456,9 @@ void Ekf::controlMagFusion()
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_time_last_movement = _imu_sample_delayed.time_us;
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}
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// decide whether 3-axis magnetomer fusion can be used
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// decide whether 3-axis magnetometer fusion can be used
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bool use_3D_fusion = _control_status.flags.tilt_align && // Use of 3D fusion requires valid tilt estimates
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_control_status.flags.in_air && // don't use when on the ground becasue of magnetic anomalies
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_control_status.flags.in_air && // don't use when on the ground because of magnetic anomalies
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_control_status.flags.mag_align_complete &&
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((_imu_sample_delayed.time_us - _time_last_movement) < 2 * 1000 * 1000); // Using 3-axis fusion for a minimum period after to allow for false negatives
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@@ -1566,7 +1566,7 @@ void Ekf::controlMagFusion()
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_control_status.flags.mag_dec = false;
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}
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// If the user has selected auto protection against indoor magnetic field errors, only use the magnetomer
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// If the user has selected auto protection against indoor magnetic field errors, only use the magnetometer
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// if a yaw angle relative to true North is required for navigation. If no GPS or other earth frame aiding
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// is available, assume that we are operating indoors and the magnetometer should not be used.
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bool user_selected = (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR);
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@@ -1580,7 +1580,7 @@ void Ekf::controlMagFusion()
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_mag_use_not_inhibit_us = _imu_sample_delayed.time_us;
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}
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// If magnetomer use has been inhibited continuously then a yaw reset is required for a valid heading
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// If magnetometer use has been inhibited continuously then a yaw reset is required for a valid heading
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if (uint32_t(_imu_sample_delayed.time_us - _mag_use_not_inhibit_us) > (uint32_t)5e6) {
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_mag_inhibit_yaw_reset_req = true;
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}
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@@ -1628,7 +1628,7 @@ void Ekf::controlVelPosFusion()
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!_control_status.flags.ev_pos &&
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!(_control_status.flags.fuse_aspd && _control_status.flags.fuse_beta)) {
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// We now need to use a synthetic positon observation to prevent unconstrained drift of the INS states.
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// We now need to use a synthetic position observation to prevent unconstrained drift of the INS states.
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_using_synthetic_position = true;
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// Fuse synthetic position observations every 200msec
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