From f3909244f017a7a1152be1573e001246c9e84986 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Tue, 25 Jul 2017 09:15:25 +1000 Subject: [PATCH] EKF: Correct units in comments --- EKF/common.h | 2 +- EKF/drag_fusion.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/EKF/common.h b/EKF/common.h index 377914ad92..ac734dcbb1 100644 --- a/EKF/common.h +++ b/EKF/common.h @@ -311,7 +311,7 @@ struct parameters { ///< the EKF will report that it is dead-reckoning (uSec) // multi-rotor drag specific force fusion - float drag_noise{2.5f}; ///< observation noise for drag specific force measurements (m/sec**2) + float drag_noise{2.5f}; ///< observation noise variance for drag specific force measurements (m/sec**2)**2 float bcoef_x{25.0f}; ///< ballistic coefficient along the X-axis (kg/m**2) float bcoef_y{25.0f}; ///< ballistic coefficient along the Y-axis (kg/m**2) diff --git a/EKF/drag_fusion.cpp b/EKF/drag_fusion.cpp index 7e6a173720..463bfcc720 100644 --- a/EKF/drag_fusion.cpp +++ b/EKF/drag_fusion.cpp @@ -48,7 +48,7 @@ void Ekf::fuseDrag() float H_ACC[24] = {}; // Observation Jacobian float SK_ACC[9] = {}; // Variable used to optimise calculations of the Kalman gain vector float Kfusion[24] = {}; // Kalman gain vector - float R_ACC = _params.drag_noise; // observation noise in specific force drag (m/sec**2) + float R_ACC = _params.drag_noise; // observation noise variance in specific force drag (m/sec**2)**2 float rho = fmaxf(_air_density, 0.1f); // air density (kg/m**3)