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[ahrs] int_cmpl_quat: fix comment

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This commit is contained in:
Felix Ruess
2013-09-02 11:36:04 +02:00
parent 983407997a
commit 5665b37a51
1 changed files with 4 additions and 4 deletions
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sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
+4 -4
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@@ -431,12 +431,12 @@ static inline void ahrs_update_mag_2d(void) {
* rate_correction FRAC: RATE_FRAC = 12
* FRAC conversion: 2^12 / 2^17 = 1/32
*
* Kp = 1/ inv_rate_gain / FRAC_conversion * 2^5
* Kp = 1/ inv_rate_gain / FRAC_conversion
* inv_rate_gain = 1 / (2 * mag_zeta * mag_omega * AHRS_PROPAGATE_FREQUENCY) *
* AHRS_MAG_CORRECT_FREQUENCY / FRAC_conversion * 2^5
* inv_rate_gain = 32 * 32 * AHRS_MAG_CORRECT_FREQUENCY /
* AHRS_MAG_CORRECT_FREQUENCY / FRAC_conversion
* inv_rate_gain = 32 * AHRS_MAG_CORRECT_FREQUENCY /
* (2 * mag_zeta * mag_omega * AHRS_PROPAGATE_FREQUENCY)
* inv_rate_gain = 512 * AHRS_MAG_CORRECT_FREQUENCY /
* inv_rate_gain = 16 * AHRS_MAG_CORRECT_FREQUENCY /
* (mag_zeta * mag_omega * AHRS_PROPAGATE_FREQUENCY)
*/