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AP_InertialNav: nfc, fix to say relative to EKF origin

gps-1.3.1
Joshua Henderson 3 years ago committed by Randy Mackay
parent
6ceee23b85
commit
8e04fb4e8e
2 changed files with 8 additions and 10 deletions
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  1. 8
      libraries/AP_InertialNav/AP_InertialNav.cpp
  2. 10
      libraries/AP_InertialNav/AP_InertialNav.h

8
libraries/AP_InertialNav/AP_InertialNav.cpp
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@ -52,7 +52,7 @@ nav_filter_status AP_InertialNav::get_filter_status() const
} }
/** /**
* get_position_neu_cm - returns the current position relative to the home location in cm. * get_position_neu_cm - returns the current position relative to the EKF origin in cm.
* *
* @return * @return
*/ */
@ -62,7 +62,7 @@ const Vector3f &AP_InertialNav::get_position_neu_cm(void) const
} }
/** /**
* get_position_xy_cm - returns the current x-y position relative to the home location in cm. * get_position_xy_cm - returns the current x-y position relative to the EKF origin in cm.
* *
* @return * @return
*/ */
@ -72,7 +72,7 @@ const Vector2f &AP_InertialNav::get_position_xy_cm() const
} }
/** /**
* get_position_z_up_cm - returns the current z position relative to the home location, frame z-axis up, in cm. * get_position_z_up_cm - returns the current z position relative to the EKF origin, frame z-axis up, in cm.
* @return * @return
*/ */
float AP_InertialNav::get_position_z_up_cm() const float AP_InertialNav::get_position_z_up_cm() const
@ -94,7 +94,7 @@ const Vector3f &AP_InertialNav::get_velocity_neu_cms() const
} }
/** /**
* get_velocity_xy_cms - returns the current x-y velocity relative to the home location in cm. * get_velocity_xy_cms - returns the current x-y velocity relative to the EKF origin in cm.
* *
* @return * @return
*/ */

10
libraries/AP_InertialNav/AP_InertialNav.h
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@ -27,23 +27,21 @@ public:
nav_filter_status get_filter_status() const; nav_filter_status get_filter_status() const;
/** /**
* get_position_neu_cm - returns the current position relative to the home location in cm. * get_position_neu_cm - returns the current position relative to the EKF origin in cm.
*
* the home location was set with AP_InertialNav::set_home_position(int32_t, int32_t)
* *
* @return * @return
*/ */
const Vector3f& get_position_neu_cm() const; const Vector3f& get_position_neu_cm() const;
/** /**
* get_position_xy_cm - returns the current x-y position relative to the home location in cm. * get_position_xy_cm - returns the current x-y position relative to the EKF origin in cm.
* *
* @return * @return
*/ */
const Vector2f& get_position_xy_cm() const; const Vector2f& get_position_xy_cm() const;
/** /**
* get_position_z_up_cm - returns the current z position relative to the home location, frame z up, in cm. * get_position_z_up_cm - returns the current z position relative to the EKF origin, frame z up, in cm.
* @return * @return
*/ */
float get_position_z_up_cm() const; float get_position_z_up_cm() const;
@ -59,7 +57,7 @@ public:
const Vector3f& get_velocity_neu_cms() const; const Vector3f& get_velocity_neu_cms() const;
/** /**
* get_velocity_xy_cms - returns the current x-y velocity relative to the home location in cm. * get_velocity_xy_cms - returns the current x-y velocity relative to the EKF origin in cm.
* *
* @return * @return
*/ */

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