Update Kalman.h

bareboat-necessities · Sep 7, 2024 · c7a45ad · c7a45ad
1 parent c37c858
commit c7a45ad
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/bbn_wave_freq_m5atomS3/Kalman.h b/bbn_wave_freq_m5atomS3/Kalman.h
@@ -618,7 +618,7 @@ void kalman_predict_P_tuned(register kalman_t *const kf, matrix_data_t lambda) {
 
   /************************************************************************/
   /* Predict next covariance using system dynamics and input              */
-  /* P = A*P*A' * 1/lambda^2 + B*Q*B'                                     */
+  /* P = F*P*F' * 1/lambda^2 + Q                                          */
   /************************************************************************/
 
   // lambda = 1/lambda^2