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EKF: update comment

master
CarlOlsson 6 years ago committed by Paul Riseborough
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7612fa40ed
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d6351bd7a5
1 changed files with 2 additions and 2 deletions
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  1. 4
      EKF/ekf_helper.cpp

4
EKF/ekf_helper.cpp
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@ -509,7 +509,7 @@ bool Ekf::realignYawGPS()
_state_reset_status.quat_change = quat_before_reset.inversed() * _state.quat_nominal; _state_reset_status.quat_change = quat_before_reset.inversed() * _state.quat_nominal;
// add the reset amount to the output observer buffered data // add the reset amount to the output observer buffered data
// Note q1 *= q2 is equivalent to q1 = q2 * q1 // Note q1 *= q2 is equivalent to q1 = q1 * q2
for (uint8_t i = 0; i < _output_buffer.get_length(); i++) { for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
_output_buffer[i].quat_nominal *= _state_reset_status.quat_change; _output_buffer[i].quat_nominal *= _state_reset_status.quat_change;
} }
@ -750,7 +750,7 @@ bool Ekf::resetMagHeading(Vector3f &mag_init, bool increase_yaw_var, bool update
if (update_buffer) { if (update_buffer) {
// add the reset amount to the output observer buffered data // add the reset amount to the output observer buffered data
for (uint8_t i = 0; i < _output_buffer.get_length(); i++) { for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
// Note q1 *= q2 is equivalent to q1 = q2 * q1 // Note q1 *= q2 is equivalent to q1 = q1 * q2
_output_buffer[i].quat_nominal *= _state_reset_status.quat_change; _output_buffer[i].quat_nominal *= _state_reset_status.quat_change;
} }

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