Update KalmanForWave.h

bareboat-necessities · Sep 10, 2024 · 45c90ee · 45c90ee
1 parent c6da6c2
commit 45c90ee
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/bbn_wave_freq_m5atomS3/KalmanForWave.h b/bbn_wave_freq_m5atomS3/KalmanForWave.h
@@ -6,9 +6,9 @@
 
   Kalman filter to double integrate vertical acceleration in wave
   into vertical displacement, correct for accelerometer bias,
-  estimate accelerometer bias, correct integral for zero average displacement
-  (thus third integral is taken as measurement of zero, responsible 
-  for zero average vertical displacement).
+  estimate accelerometer bias, correct integral for zero average displacement.
+  The third integral (responsible for zero average vertical displacement)
+  is taken as a measurement of zero.
 
   Process model: