doc

src/processor/processor_tracker_gnss.cpp

@@ -157,10 +157,13 @@ bool ProcessorTrackerGnss::voteForKeyFrame() const
         return true;
     }
 
-    // known features
+    /* KNOWN FEATURES
+     * If tracked sats are lower than minimum (min_features_for_keyframe), a KF in last will be useful
+     * if it allows to add more satellites (untracked features in last is not empty)
+     */
     WOLF_DEBUG("Nbr. of active feature tracks: " , known_features_incoming_.size() );
     if (known_features_incoming_.size() < params_tracker_feature_->min_features_for_keyframe
-        and !untracked_last_features_.empty())
+        and not untracked_last_features_.empty() )
     {
         WOLF_INFO( "Vote for KF because of too less known_features_incoming and not empty untracked in last" );
         return true;