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EKF: Correct units in comments

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Paul Riseborough
2017-07-25 09:17:18 +10:00
parent 33e8d5923f
commit f3909244f0
2 changed files with 2 additions and 2 deletions
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EKF/drag_fusion.cpp
+1 -1
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@@ -48,7 +48,7 @@ void Ekf::fuseDrag()
float H_ACC[24] = {}; // Observation Jacobian
float SK_ACC[9] = {}; // Variable used to optimise calculations of the Kalman gain vector
float Kfusion[24] = {}; // Kalman gain vector
float R_ACC = _params.drag_noise; // observation noise in specific force drag (m/sec**2)
float R_ACC = _params.drag_noise; // observation noise variance in specific force drag (m/sec**2)**2
float rho = fmaxf(_air_density, 0.1f); // air density (kg/m**3)