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drone: added missing '\' in an equation due to typo

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1 parent d345b42 commit dd0b623bf2b426717a122a7ea8aa712442f2f7b1 @rjw57 committed Mar 6, 2012
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  1. +1 −1 teaching/drone.rst
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@@ -53,7 +53,7 @@ We assume that the yaw is subject to some linear drift, `\Delta\gamma` over time
where `\hat{\Delta\gamma}` is our current estimate of the linear drift. There are many ways of estimating this. A very
simple one is to keep track of the expected value of `\hat{\gamma}_{t} - \hat{\gamma}_{t-1}` due to the commands
we're sending the drone (e.g. we expect `\hat{\gamma}_{t-1} = \hat{\gamma}_t` if we are sending a zero-yaw command) and
-update `\hat{\Delta\gamma}` from the measured `gamma_t - \gamma_{t-1}`. Ideally this should be smoothed over time with
+update `\hat{\Delta\gamma}` from the measured `\gamma_t - \gamma_{t-1}`. Ideally this should be smoothed over time with
some sort of moving average process. This is left as an exercise for the reader(!)
The value we need to add to the `\theta` vector is therefore `\hat{\Delta\gamma}`.

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