AP_NavEKF: Change misnomer (NFC)

Icatme · Mar 19, 2021 · 0536be1 · 0536be1
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Showing 4 changed files with 8 additions and 8 deletions.
diff --git a/libraries/AP_NavEKF/Models/AttErrVecMathExample/FuseMagnetometer.m b/libraries/AP_NavEKF/Models/AttErrVecMathExample/FuseMagnetometer.m
@@ -49,8 +49,8 @@
 states(1:3) = 0;
 states = states - Kfusion * innovation;
 
-% the first 3 states represent the angular misalignment vector. This is
-% is used to correct the estimate quaternion
+% the first 3 states represent the angular misalignment vector.
+% This is used to correct the estimate quaternion
 % Convert the error rotation vector to its equivalent quaternion
 % error = truth - estimate
 rotationMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2);

diff --git a/libraries/AP_NavEKF/Models/AttErrVecMathExample/FuseVelocity.m b/libraries/AP_NavEKF/Models/AttErrVecMathExample/FuseVelocity.m
@@ -37,8 +37,8 @@
     % Store tilt error estimate for external monitoring
     angErrVec = angErrVec + states(1:3);
 
-    % 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
     % Convert the error rotation vector to its equivalent quaternion
     % truth = estimate + error
     rotationMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2);

diff --git a/libraries/AP_NavEKF/Models/GimbalEstimatorExample/FuseMagnetometer.m b/libraries/AP_NavEKF/Models/GimbalEstimatorExample/FuseMagnetometer.m
@@ -48,8 +48,8 @@
 states(1:3) = 0;
 states = states - Kfusion * innovation;
 
-% the first 3 states represent the angular misalignment vector. This is
-% is used to correct the estimate quaternion
+% the first 3 states represent the angular misalignment vector.
+% This is used to correct the estimate quaternion
 % Convert the error rotation vector to its equivalent quaternion
 % error = truth - estimate
 rotationMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2);

diff --git a/libraries/AP_NavEKF/Models/GimbalEstimatorExample/FuseVelocity.m b/libraries/AP_NavEKF/Models/GimbalEstimatorExample/FuseVelocity.m
@@ -37,8 +37,8 @@
     % Store tilt error estimate for external monitoring
     angErrVec = angErrVec + states(1:3);
 
-    % 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
     % Convert the error rotation vector to its equivalent quaternion
     % truth = estimate + error
     rotationMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2);