matlab: Allow replay to handle late start GPS data in log

Also minor fix to comments.

matlab/EKF_replay/Filter/RunFilter.m

@@ -158,6 +158,7 @@ for index = indexStart:indexStop
         % Get most recent GPS data that had fallen behind the fusion time horizon
         latest_gps_index = find((gps_data.time_us - 1e6 * param.fusion.gpsTimeDelay) < imu_data.time_us(imuIndex), 1, 'last' );
         
+        if ~isempty(latest_gps_index)
             % Check if GPS use is being blocked by the user
             if ((local_time < param.control.gpsOnTime) && (local_time > param.control.gpsOffTime))
                 gps_use_started = false;
@@ -206,6 +207,7 @@ for index = indexStart:indexStop
                     end
                 end
             end
+        end
         
         % Fuse new Baro data that has fallen beind the fusion time horizon
         latest_baro_index = find((baro_data.time_us - 1e6 * param.fusion.baroTimeDelay) < imu_data.time_us(imuIndex), 1, 'last' );

matlab/scripts/Inertial Nav EKF/quat2yaw312.m

@@ -21,7 +21,7 @@ syms q0 q1 q2 q3 'real'
 % function of the quaternions
 Tbn_quat = Quat2Tbn([q0;q1;q2;q3]);
 
-% calculate the y,x terms required for calculation fo the yaw angle
+% collect the y,x terms required for calculation of the yaw angle
 yaw_input_312 = [-Tbn_quat(1,2);Tbn_quat(2,2)];
 
 % convert to c code and save