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1 files changed, 4 insertions, 1 deletions

diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 78ea63018..951840ab1 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -73,7 +73,7 @@
 #include "multirotor_attitude_control.h"
 #include "multirotor_rate_control.h"
 
-PARAM_DEFINE_FLOAT(MC_RCLOSS_THROT, 0.0f);
+PARAM_DEFINE_FLOAT(MC_RCLOSS_THROT, 0.0f); // This defines the throttle when the RC signal is lost.
 
 __EXPORT int multirotor_att_control_main(int argc, char *argv[]);
 
@@ -145,6 +145,7 @@ mc_thread_main(int argc, char *argv[])
 	bool flag_system_armed = false;
 	bool man_yaw_zero_once = false;
 
+	/* prepare the handle for the failsafe throttle */
 	param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THROT");
 	float failsafe_throttle = 0.0f;
 
@@ -233,7 +234,9 @@ mc_thread_main(int argc, char *argv[])
 				}
 				att_sp.thrust = manual.throttle;
 
+				/* if the RC signal is lost, try to stay level and go slowly back down to ground */
 				if(state.rc_signal_lost) {
+					/* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */
 					param_get(failsafe_throttle_handle, &failsafe_throttle);
 					att_sp.roll_body = 0.0f;
 					att_sp.pitch_body = 0.0f;