From 7201f7d2fde6f43b0ac5c042e4b1753a2e0fa1a4 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sat, 21 May 2016 11:13:50 +1000 Subject: [PATCH] AP_NavEKF2: fix comment --- libraries/AP_NavEKF2/AP_NavEKF2_core.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h index 1f62756821..6b2aa9cb68 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h +++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h @@ -775,7 +775,7 @@ private: uint32_t framesSincePredict; // number of frames lapsed since EKF instance did a state prediction bool startPredictEnabled; // boolean true when the frontend has given permission to start a new state prediciton cycele uint8_t localFilterTimeStep_ms; // average number of msec between filter updates - float posDownObsNoise; // observationn noise on the vertical position used by the state and covariance update step (m) + float posDownObsNoise; // observation noise variance on the vertical position used by the state and covariance update step (m^2) // variables used to calculate a vertical velocity that is kinematically consistent with the verical position float posDownDerivative; // Rate of chage of vertical position (dPosD/dt) in m/s. This is the first time derivative of PosD.