From 0cc513a218422a203635c345d119a842f0cd5745 Mon Sep 17 00:00:00 2001
From: Guglielmo <gdguglie@gmail.com>
Date: Mon, 11 Mar 2019 11:09:30 +0100
Subject: [PATCH 1/2] Fixed typo in TDoA outlier filter function

---
 src/modules/src/estimator_kalman.c | 2 +-
 src/modules/src/outlierFilter.c    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/src/estimator_kalman.c b/src/modules/src/estimator_kalman.c
index b1aaa2b665..7fe06ce11b 100644
--- 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
index f5c904c80b..c7a56c594e 100644
--- 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)) {

From 1a45a51510f0f8f848806ac9277c513491585321 Mon Sep 17 00:00:00 2001
From: Guglielmo <gdguglie@gmail.com>
Date: Mon, 11 Mar 2019 13:57:04 +0100
Subject: [PATCH 2/2] fix typo in outlierFilter.h

---
 src/modules/interface/outlierFilter.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/interface/outlierFilter.h b/src/modules/interface/outlierFilter.h
index 3296e0fe4a..c3f375c419 100644
--- 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();