From 908b348c31fda541485cf990ba216a72c6cf45a3 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Tue, 15 Dec 2020 18:28:00 +1100 Subject: [PATCH] AP_NavEKF3: Fix typo in enum label --- libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp | 8 ++++---- libraries/AP_NavEKF3/AP_NavEKF3_core.h | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp index de227ca06d..6aa1604eef 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp @@ -357,7 +357,7 @@ void NavEKF3_core::SelectMagFusion() if (dataReady) { // use the simple method of declination to maintain heading if we cannot use the magnetic field states if(inhibitMagStates || magStateResetRequest || !magStateInitComplete) { - fuseEulerYaw(yawFusionMethod::MAGNETOMER); + fuseEulerYaw(yawFusionMethod::MAGNETOMETER); // zero the test ratio output from the inactive 3-axis magnetometer fusion magTestRatio.zero(); @@ -868,7 +868,7 @@ bool NavEKF3_core::fuseEulerYaw(yawFusionMethod method) R_YAW = sq(yawAngDataStatic.yawAngErr); break; - case yawFusionMethod::MAGNETOMER: + case yawFusionMethod::MAGNETOMETER: case yawFusionMethod::PREDICTED: default: R_YAW = sq(frontend->_yawNoise); @@ -886,7 +886,7 @@ bool NavEKF3_core::fuseEulerYaw(yawFusionMethod method) order = yawAngDataStatic.order; break; - case yawFusionMethod::MAGNETOMER: + case yawFusionMethod::MAGNETOMETER: case yawFusionMethod::GSF: case yawFusionMethod::PREDICTED: default: @@ -1025,7 +1025,7 @@ bool NavEKF3_core::fuseEulerYaw(yawFusionMethod method) // Calculate the innovation switch (method) { - case yawFusionMethod::MAGNETOMER: + case yawFusionMethod::MAGNETOMETER: { // Use the difference between the horizontal projection and declination to give the measured yaw // rotate measured mag components into earth frame diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h index 78af6bfdef..c5898eb48e 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h @@ -620,7 +620,7 @@ private: // specifies the method to be used when fusing yaw observations enum class yawFusionMethod { - MAGNETOMER=0, + MAGNETOMETER=0, EXTERNAL=1, GSF=2, STATIC=3,