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EKF: fixed some comment typos

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
This commit is contained in:
Carl Olsson
2019-03-18 10:20:33 -04:00
committed by Daniel Agar
parent 6e77b197c7
commit f0889c1760
27 changed files with 133 additions and 134 deletions
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EKF/vel_pos_fusion.cpp
+6 -6
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@@ -106,7 +106,7 @@ void Ekf::fuseVelPosHeight()
gate_size[5] = fmaxf(_params.baro_innov_gate, 1.0f);
// Compensate for positive static pressure transients (negative vertical position innovations)
// casued by rotor wash ground interaction by applying a temporary deadzone to baro innovations.
// caused by rotor wash ground interaction by applying a temporary deadzone to baro innovations.
float deadzone_start = 0.0f;
float deadzone_end = deadzone_start + _params.gnd_effect_deadzone;
@@ -146,7 +146,7 @@ void Ekf::fuseVelPosHeight()
} else if (_control_status.flags.ev_hgt) {
fuse_map[5] = true;
// calculate the innovation assuming the external vision observaton is in local NED frame
// calculate the innovation assuming the external vision observation is in local NED frame
innovation[5] = _state.pos(2) - _ev_sample_delayed.posNED(2);
// observation variance - defined externally
R[5] = fmaxf(_ev_sample_delayed.hgtErr, 0.01f);
@@ -234,7 +234,7 @@ void Ekf::fuseVelPosHeight()
Kfusion[row] = P[row][state_index] / _vel_pos_innov_var[obs_index];
}
// update covarinace matrix via Pnew = (I - KH)P
// update covariance matrix via Pnew = (I - KH)P
float KHP[_k_num_states][_k_num_states];
for (unsigned row = 0; row < _k_num_states; row++) {
@@ -244,7 +244,7 @@ void Ekf::fuseVelPosHeight()
}
// if the covariance correction will result in a negative variance, then
// the covariance marix is unhealthy and must be corrected
// the covariance matrix is unhealthy and must be corrected
bool healthy = true;
for (int i = 0; i < _k_num_states; i++) {
@@ -299,7 +299,7 @@ void Ekf::fuseVelPosHeight()
}
}
// only apply covariance and state corrrections if healthy
// only apply covariance and state corrections if healthy
if (healthy) {
// apply the covariance corrections
for (unsigned row = 0; row < _k_num_states; row++) {
@@ -308,7 +308,7 @@ void Ekf::fuseVelPosHeight()
}
}
// correct the covariance marix for gross errors
// correct the covariance matrix for gross errors
fixCovarianceErrors();
// apply the state corrections