From afd4f3f86b4d8510ff492551fc705ec53629e8b8 Mon Sep 17 00:00:00 2001 From: kamilritz Date: Sun, 21 Jun 2020 13:17:47 +0200 Subject: [PATCH] Fix typo --- EKF/mag_fusion.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/EKF/mag_fusion.cpp b/EKF/mag_fusion.cpp index ddd543ca92..671425d630 100644 --- a/EKF/mag_fusion.cpp +++ b/EKF/mag_fusion.cpp @@ -831,7 +831,7 @@ void Ekf::fuseHeading() // conditioned covariance matrix developing over time. if (!_control_status.flags.vehicle_at_rest) { // Vehicle is not at rest so fuse a zero innovation if necessary to prevent - // unconstrained quaterniion variance growth and record the predicted heading + // unconstrained quaternion variance growth and record the predicted heading // to use as an observation when movement ceases. // TODO a better way of determining when this is necessary float sumQuatVar = P(0,0) + P(1,1) + P(2,2) + P(3,3);