From d6351bd7a5c7dcb1e06100148027bada97b115b4 Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Tue, 21 May 2019 11:30:40 +0200 Subject: [PATCH] EKF: update comment --- EKF/ekf_helper.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp index 4313c1443e93..91a7f05551dc 100644 --- a/EKF/ekf_helper.cpp +++ b/EKF/ekf_helper.cpp @@ -509,7 +509,7 @@ bool Ekf::realignYawGPS() _state_reset_status.quat_change = quat_before_reset.inversed() * _state.quat_nominal; // add the reset amount to the output observer buffered data - // Note q1 *= q2 is equivalent to q1 = q2 * q1 + // Note q1 *= q2 is equivalent to q1 = q1 * q2 for (uint8_t i = 0; i < _output_buffer.get_length(); i++) { _output_buffer[i].quat_nominal *= _state_reset_status.quat_change; } @@ -750,7 +750,7 @@ bool Ekf::resetMagHeading(Vector3f &mag_init, bool increase_yaw_var, bool update if (update_buffer) { // add the reset amount to the output observer buffered data for (uint8_t i = 0; i < _output_buffer.get_length(); i++) { - // Note q1 *= q2 is equivalent to q1 = q2 * q1 + // Note q1 *= q2 is equivalent to q1 = q1 * q2 _output_buffer[i].quat_nominal *= _state_reset_status.quat_change; }