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Fix typos #139

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Dec 25, 2023
Merged

Fix typos #139

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4 changes: 2 additions & 2 deletions Python/advanced_example.py
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,7 @@ def plot_bool(axis, x, y, label):
# Plot angular rate recovery flag
plot_bool(axes[2], timestamp, flags[:, 1], "Angular rate recovery")

# Plot acceleration rejection internal states and flags
# Plot acceleration rejection internal states and flag
axes[3].plot(timestamp, internal_states[:, 0], "tab:olive", label="Acceleration error")
axes[3].set_ylabel("Degrees")
axes[3].grid()
Expand All @@ -93,7 +93,7 @@ def plot_bool(axis, x, y, label):

plot_bool(axes[6], timestamp, flags[:, 2], "Acceleration recovery")

# Plot magnetic rejection internal states and flags
# Plot magnetic rejection internal states and flag
axes[7].plot(timestamp, internal_states[:, 3], "tab:olive", label="Magnetic error")
axes[7].set_ylabel("Degrees")
axes[7].grid()
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16 changes: 8 additions & 8 deletions README.md
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Expand Up @@ -42,14 +42,14 @@ The algorithm provides three outputs: quaternion, linear acceleration, and Earth

The AHRS algorithm settings are defined by the `FusionAhrsSettings` structure and set using the `FusionAhrsSetSettings` function.

| Setting | Description |
|-------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| `convention` | Earth axes convention (NWD, ENU, or NED). |
| `gain` | Determines the influence of the gyroscope relative to other sensors. A value of zero will disable initialisation and the acceleration and magnetic rejection features. A value of 0.5 is appropriate for most applications. |
| `gyroscopeRange` | Gyroscope range (in degrees pe second). Angular rate recovery will activate if the gyroscope measurement exceeds 98% of this value. A value of zero will disable this feature. The value should be set to the range specified in the gyroscope datasheet. |
| `accelerationRejection` | Threshold (in degrees) used by the acceleration rejection feature. A value of zero will disable this feature. A value of 10 degrees is appropriate for most applications. |
| `magneticRejection` | Threshold (in degrees) used by the magnetic rejection feature. A value of zero will disable the feature. A value of 10 degrees is appropriate for most applications. |
| `recoveryTriggerPeriod` | Acceleration and magnetic recovery trigger period (in samples). A value of zero will disable the acceleration and magnetic rejection features. A period of 5 seconds is appropriate for most applications. |
| Setting | Description |
|-------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| `convention` | Earth axes convention (NWD, ENU, or NED). |
| `gain` | Determines the influence of the gyroscope relative to other sensors. A value of zero will disable initialisation and the acceleration and magnetic rejection features. A value of 0.5 is appropriate for most applications. |
| `gyroscopeRange` | Gyroscope range (in degrees per second). Angular rate recovery will activate if the gyroscope measurement exceeds 98% of this value. A value of zero will disable this feature. The value should be set to the range specified in the gyroscope datasheet. |
| `accelerationRejection` | Threshold (in degrees) used by the acceleration rejection feature. A value of zero will disable this feature. A value of 10 degrees is appropriate for most applications. |
| `magneticRejection` | Threshold (in degrees) used by the magnetic rejection feature. A value of zero will disable the feature. A value of 10 degrees is appropriate for most applications. |
| `recoveryTriggerPeriod` | Acceleration and magnetic recovery trigger period (in samples). A value of zero will disable the acceleration and magnetic rejection features. A period of 5 seconds is appropriate for most applications. |

### Algorithm internal states

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