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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-29 16:55:22 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-29 16:55:22 +0100 |
commit | f05aa01e693dab6b16aee136f162a614c5931421 (patch) | |
tree | 4fd204358e97935f8ea60320f39f48257541643b /src | |
parent | a0b767f4676a9204260442c56ab309108d47638d (diff) | |
download | px4-firmware-f05aa01e693dab6b16aee136f162a614c5931421.tar.gz px4-firmware-f05aa01e693dab6b16aee136f162a614c5931421.tar.bz2 px4-firmware-f05aa01e693dab6b16aee136f162a614c5931421.zip |
fw att: fix comment style
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 22 |
1 files changed, 13 insertions, 9 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index d8377899c..45dcddb9c 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -400,7 +400,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : /* fetch initial parameter values */ parameters_update(); - // set correct uORB ID, depending on if vehicle is VTOL or not + + /* set correct uORB ID, depending on if vehicle is VTOL or not */ if (_parameters.autostart_id >= 13000 && _parameters.autostart_id <= 13999) { /* VTOL airframe?*/ _rates_sp_id = ORB_ID(fw_virtual_rates_setpoint); _actuators_id = ORB_ID(actuator_controls_virtual_fw); @@ -724,22 +725,24 @@ FixedwingAttitudeControl::task_main() R.set(_att.R); R_adapted.set(_att.R); - //move z to x + /* move z to x */ R_adapted(0, 0) = R(0, 2); R_adapted(1, 0) = R(1, 2); R_adapted(2, 0) = R(2, 2); - //move x to z + + /* move x to z */ R_adapted(0, 2) = R(0, 0); R_adapted(1, 2) = R(1, 0); R_adapted(2, 2) = R(2, 0); - //change direction of pitch (convert to right handed system) + /* change direction of pitch (convert to right handed system) */ R_adapted(0, 0) = -R_adapted(0, 0); R_adapted(1, 0) = -R_adapted(1, 0); R_adapted(2, 0) = -R_adapted(2, 0); math::Vector<3> euler_angles; //adapted euler angles for fixed wing operation euler_angles = R_adapted.to_euler(); - //fill in new attitude data + + /* fill in new attitude data */ _att.roll = euler_angles(0); _att.pitch = euler_angles(1); _att.yaw = euler_angles(2); @@ -753,7 +756,7 @@ FixedwingAttitudeControl::task_main() _att.R[2][1] = R_adapted(2, 1); _att.R[2][2] = R_adapted(2, 2); - // lastly, roll- and yawspeed have to be swaped + /* lastly, roll- and yawspeed have to be swaped */ float helper = _att.rollspeed; _att.rollspeed = -_att.yawspeed; _att.yawspeed = helper; @@ -850,7 +853,7 @@ FixedwingAttitudeControl::task_main() _yaw_ctrl.reset_integrator(); } } else if (_vcontrol_mode.flag_control_velocity_enabled) { - /* + /* * Velocity should be controlled and manual is enabled. */ roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll) @@ -885,7 +888,7 @@ FixedwingAttitudeControl::task_main() + _parameters.rollsp_offset_rad; pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch) + _parameters.pitchsp_offset_rad; - // allow manual control of rudder deflection + /* allow manual control of rudder deflection */ yaw_manual = _manual.r; throttle_sp = _manual.z; _actuators.control[4] = _manual.flaps; @@ -986,7 +989,8 @@ FixedwingAttitudeControl::task_main() _pitch_ctrl.get_desired_rate(), _parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator); _actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw; - // add in manual rudder control + + /* add in manual rudder control */ _actuators.control[2] += yaw_manual; if (!isfinite(yaw_u)) { _yaw_ctrl.reset_integrator(); |