diff options
| -rw-r--r-- | Documentation/fw_landing.png | bin | 0 -> 17371 bytes | |||
| -rw-r--r-- | src/modules/fw_pos_control_l1/landingslope.h | 16 |
2 files changed, 8 insertions, 8 deletions
diff --git a/Documentation/fw_landing.png b/Documentation/fw_landing.png Binary files differnew file mode 100644 index 000000000..c1165f16a --- /dev/null +++ b/Documentation/fw_landing.png diff --git a/src/modules/fw_pos_control_l1/landingslope.h b/src/modules/fw_pos_control_l1/landingslope.h index 8ff431509..1a149fc7c 100644 --- a/src/modules/fw_pos_control_l1/landingslope.h +++ b/src/modules/fw_pos_control_l1/landingslope.h @@ -46,16 +46,16 @@ class Landingslope { private: - //xxx: documentation of landing pending - float _landing_slope_angle_rad; - float _flare_relative_alt; + /* see Documentation/fw_landing.png for a plot of the landing slope */ + float _landing_slope_angle_rad; /**< phi in the plot */ + float _flare_relative_alt; /**< h_flare,rel in the plot */ float _motor_lim_horizontal_distance; - float _H1_virt; - float _H0; - float _d1; + float _H1_virt; /**< H1 in the plot */ + float _H0; /**< h_flare,rel + H1 in the plot */ + float _d1; /**< d1 in the plot */ float _flare_constant; - float _flare_length; - float _horizontal_slope_displacement; + float _flare_length; /**< d1 + delta d in the plot */ + float _horizontal_slope_displacement; /**< delta d in the plot */ void calculateSlopeValues(); |
