From 7d5f8a0d5d019f14f7b0abf0f866c58334ce399c Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Mon, 9 Sep 2024 16:13:43 +0200
Subject: [PATCH] [NAS] Updated comments on NASConfig
---
src/shared/algorithms/NAS/NASConfig.h | 14 +++++++-------
1 file changed, 7 insertions(+), 7 deletions(-)
diff --git a/src/shared/algorithms/NAS/NASConfig.h b/src/shared/algorithms/NAS/NASConfig.h
index ab2020d5a..9faa73081 100644
--- a/src/shared/algorithms/NAS/NASConfig.h
+++ b/src/shared/algorithms/NAS/NASConfig.h
@@ -31,16 +31,16 @@ struct NASConfig
{
float T; ///< [s] Sample period
float SIGMA_BETA; ///< [rad/s^2] Estimated gyroscope bias variance
- float SIGMA_W; ///< [rad^2] Estimated gyroscope variance
- float SIGMA_ACC; ///< [uT^2] Estimated accelerometer variance
- float SIGMA_MAG; ///< [uT^2] Estimated magnetometer variance
- Eigen::Vector4f SIGMA_GPS; ///< [millideg^2, millideg^2, m^2/s^2, m^2/s^2]
+ float SIGMA_W; ///< [rad] Estimated gyroscope variance
+ float SIGMA_ACC; ///< [m/s^2] Estimated accelerometer variance
+ float SIGMA_MAG; ///< [uT] Estimated magnetometer variance
+ Eigen::Vector4f SIGMA_GPS; ///< [millideg, millideg, m/s, m/s]
///< estimated GPS variance. position from test,
///< velocity from datasheet
float SIGMA_BAR; ///< [Pa] Estimated altitude variance
- float SIGMA_POS; ///< [m^2] Estimated variance of the position noise
- float SIGMA_VEL; ///< [(m/s)^2] Estimated variance of the velocity noise
- float SIGMA_PITOT; ///< [Pa^2] Estimated variance of the pitot velocity
+ float SIGMA_POS; ///< [m] Estimated variance of the position noise
+ float SIGMA_VEL; ///< [m/s] Estimated variance of the velocity noise
+ float SIGMA_PITOT; ///< [Pa] Estimated variance of the pitot velocity
float P_POS; ///< Position prediction covariance horizontal
float P_POS_VERTICAL; ///< Position prediction covariance vertical
--
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