Issue 1411#1414
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Description
This PR fixes a variable semantic mismatch in the InertialUKF module where the variable name did not match the physical quantity it stored.
The
wheelAccelvariable ininertialStateProp()was initially assigned an angular velocity difference, then divided byspeedDt/JsList[i], transforming it from angular velocity to torque. The variable namewheelAccelincorrectly suggested angular acceleration rather than the actual stored quantity of torque.The fix renames
wheelAcceltowheelTorqueat all occurrences to accurately reflect the stored physical quantity and maintain consistency with Basilisk coding guidelines on unit clarity.Additionally, the PR adds all units comments and fixes doc typos and mistakes.
Verification
Existing unit tests in
src/fswAlgorithms/attDetermination/InertialUKF/_UnitTest/test_inertialKF.pycontinue to pass.Documentation
No new documentation required.