Good Variable names

Good code requires minimal comments to understand it. One of the best ways to achieve clarity is to use good variable names. Examples of bad variable names:

• euler
• h
• azimuth
• acc

Better variable names:

• eulerRFB321NED2Body_rad: Rotated frame based Euler angles that will transform the NED frame to body fixed frame. Unit is radians. Note that array element order should be 0 = yaw, 1 = pitch, 2 = roll to reduce potential confusion.
• hMSL_ft: Height above mean sea level. Unit is feet.
• azimuthCWFromTrueNorth_deg: Azimuth measured clockwise from true North. Unit is degrees.
• a_bi_NED_mps2: acceleration of body with respect to inertial frame, expressed in NED frame. Unit is m/s^2