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Code Issues Releases Activity

LP-443 - Fixes from review.

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This commit is contained in:
Alessio Morale 2016-11-04 02:36:36 +01:00
parent 7cdbb17e8b
commit 3eb4b45f04
1 changed files with 2 additions and 3 deletions
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5
flight/libraries/insgps14state.c
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@ -90,7 +90,7 @@ uint16_t ins_get_num_states()
return NUMX;
}
void INSGPSInit() // pretty much just a place holder for now
void INSGPSInit()
{
ekf.Be[0] = 1.0f;
ekf.Be[1] = 0;
@ -266,7 +266,6 @@ void INSPosVelReset(const float pos[3], const float vel[3])
ekf.X[5] = vel[2];
}
void INSSetPosVelVar(const float PosVar[3], const float VelVar[3])
// void INSSetPosVelVar(float PosVar, float VelVar, float VertPosVar)
{
ekf.R[0] = PosVar[0];
ekf.R[1] = PosVar[1];
@ -787,7 +786,7 @@ void StateEq(float X[NUMX], float U[NUMU], float Xdot[NUMX])
// For accels to make sure things stay stable, assume bias always walks weakly
// towards zero for the horizontal axis. This prevents drifting around an
// unobservable manifold of possible attitudes and gyro biases. The z-axis
// we assume no drift becaues this is teh one we want to estimate most accurately.
// we assume no drift because this is the one we want to estimate most accurately.
Xdot[13] = 0.0f;
}