Merge pull request #404 from guglie/outlier-filter-fix

Fixed typo in TDoA outlier filter function
bitcraze · Mar 11, 2019 · 741a786 · 741a786
2 parents bd400b4 + 1a45a51
commit 741a786
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/src/modules/interface/outlierFilter.h b/src/modules/interface/outlierFilter.h
@@ -30,7 +30,7 @@
 #include "stabilizer_types.h"
 
 bool outlierFilterValidateTdoaSimple(const tdoaMeasurement_t* tdoa);
-bool outlierFilterVaildateTdoaSteps(const tdoaMeasurement_t* tdoa, const float error, const vector_t* jacobian, const point_t* estPos);
+bool outlierFilterValidateTdoaSteps(const tdoaMeasurement_t* tdoa, const float error, const vector_t* jacobian, const point_t* estPos);
 
 void outlierFilterReset();
 

diff --git a/src/modules/src/estimator_kalman.c b/src/modules/src/estimator_kalman.c
@@ -1038,7 +1038,7 @@ static void stateEstimatorUpdateWithTDOA(tdoaMeasurement_t *tdoa)
         .z = S[STATE_Z],
       };
 
-      bool sampleIsGood = outlierFilterVaildateTdoaSteps(tdoa, error, &jacobian, &estimatedPosition);
+      bool sampleIsGood = outlierFilterValidateTdoaSteps(tdoa, error, &jacobian, &estimatedPosition);
       if (sampleIsGood) {
         stateEstimatorScalarUpdate(&H, error, tdoa->stdDev);
       }

diff --git a/src/modules/src/outlierFilter.c b/src/modules/src/outlierFilter.c
@@ -67,7 +67,7 @@ bool outlierFilterValidateTdoaSimple(const tdoaMeasurement_t* tdoa) {
   return isDistanceDiffSmallerThanDistanceBetweenAnchors(tdoa);
 }
 
-bool outlierFilterVaildateTdoaSteps(const tdoaMeasurement_t* tdoa, const float error, const vector_t* jacobian, const point_t* estPos) {
+bool outlierFilterValidateTdoaSteps(const tdoaMeasurement_t* tdoa, const float error, const vector_t* jacobian, const point_t* estPos) {
   bool sampleIsGood = false;
 
   if (isDistanceDiffSmallerThanDistanceBetweenAnchors(tdoa)) {