diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index eec37f80c..167126a2b 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -1267,12 +1267,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } _control_mode_current = FW_POSCTRL_MODE_POSITION; - // Get demanded airspeed + /* Get demanded airspeed */ float altctrl_airspeed = _parameters.airspeed_min + (_parameters.airspeed_max - _parameters.airspeed_min) * _manual.z; - // Get demanded vertical velocity from pitch control + /* Get demanded vertical velocity from pitch control */ static bool was_in_deadband = false; if (_manual.x > deadBand) { float pitch = (_manual.x - deadBand) / factor; @@ -1324,7 +1324,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) { /* Set thrust to 0 to minimize damage */ _att_sp.thrust = 0.0f; - } else if (_control_mode_current == FW_POSCTRL_MODE_AUTO && // launchdetector only available in auot + } else if (_control_mode_current == FW_POSCTRL_MODE_AUTO && // launchdetector only available in auto pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF && launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) { /* making sure again that the correct thrust is used, |