AP_NavEKF2: Change misnomer (NFC)

libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp

@@ -128,8 +128,8 @@ void NavEKF2_core::FuseAirspeed()
                 statesArray[j] = statesArray[j] - Kfusion[j] * innovVtas;
             }
 
-            // the first 3 states represent the angular misalignment vector. This is
-            // is used to correct the estimated quaternion on the current time step
+            // the first 3 states represent the angular misalignment vector.
+            // This is used to correct the estimated quaternion on the current time step
             stateStruct.quat.rotate(stateStruct.angErr);
 
             // correct the covariance P = (I - K*H)*P
@@ -370,8 +370,8 @@ void NavEKF2_core::FuseSideslip()
             statesArray[j] = statesArray[j] - Kfusion[j] * innovBeta;
         }
 
-        // the first 3 states represent the angular misalignment vector. This is
-        // is used to correct the estimated quaternion on the current time step
+        // the first 3 states represent the angular misalignment vector.
+        //  This is used to correct the estimated quaternion on the current time step
         stateStruct.quat.rotate(stateStruct.angErr);
 
         // correct the covariance P = (I - K*H)*P

libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp

@@ -689,8 +689,8 @@ void NavEKF2_core::FuseMagnetometer()
                 MagTableConstrain();
             }
 
-            // the first 3 states represent the angular misalignment vector. This is
-            // is used to correct the estimated quaternion on the current time step
+            // the first 3 states represent the angular misalignment vector.
+            // This is used to correct the estimated quaternion on the current time step
             stateStruct.quat.rotate(stateStruct.angErr);
 
         } else {
@@ -964,8 +964,8 @@ void NavEKF2_core::fuseEulerYaw()
             statesArray[i] -= Kfusion[i] * innovation;
         }
 
-        // the first 3 states represent the angular misalignment vector. This is
-        // is used to correct the estimated quaternion on the current time step
+        // the first 3 states represent the angular misalignment vector.
+        // This is used to correct the estimated quaternion on the current time step
         stateStruct.quat.rotate(stateStruct.angErr);
 
         // record fusion event
@@ -1095,8 +1095,8 @@ void NavEKF2_core::FuseDeclination(float declErr)
             statesArray[j] = statesArray[j] - Kfusion[j] * innovation;
         }
 
-        // the first 3 states represent the angular misalignment vector. This is
-        // is used to correct the estimated quaternion on the current time step
+        // the first 3 states represent the angular misalignment vector.
+        // This is used to correct the estimated quaternion on the current time step
         stateStruct.quat.rotate(stateStruct.angErr);
 
         // record fusion health status

libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp

@@ -697,8 +697,8 @@ void NavEKF2_core::FuseOptFlow()
                     statesArray[j] = statesArray[j] - Kfusion[j] * innovOptFlow[obsIndex];
                 }
 
-                // the first 3 states represent the angular misalignment vector. This is
-                // is used to correct the estimated quaternion on the current time step
+                // the first 3 states represent the angular misalignment vector.
+                // This is used to correct the estimated quaternion on the current time step
                 stateStruct.quat.rotate(stateStruct.angErr);
 
             } else {

libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp

@@ -891,8 +891,8 @@ void NavEKF2_core::FuseVelPosNED()
                         statesArray[i] = statesArray[i] - Kfusion[i] * innovVelPos[obsIndex];
                     }
 
-                    // the first 3 states represent the angular misalignment vector. This is
-                    // is used to correct the estimated quaternion
+                    // the first 3 states represent the angular misalignment vector.
+                    // This is used to correct the estimated quaternion
                     stateStruct.quat.rotate(stateStruct.angErr);
 
                     // sum the attitude error from velocity and position fusion only

libraries/AP_NavEKF2/AP_NavEKF2_RngBcnFusion.cpp

@@ -214,8 +214,8 @@ void NavEKF2_core::FuseRngBcn()
                     statesArray[j] = statesArray[j] - Kfusion[j] * innovRngBcn;
                 }
 
-                // the first 3 states represent the angular misalignment vector. This is
-                // is used to correct the estimated quaternion on the current time step
+                // the first 3 states represent the angular misalignment vector.
+                // This is used to correct the estimated quaternion on the current time step
                 stateStruct.quat.rotate(stateStruct.angErr);
 
                 // record healthy fusion