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Copyright and comments fixes

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Anton Babushkin
2014-01-19 13:11:15 +01:00
parent 302632e7c4
commit 18b28f0efd
6 changed files with 66 additions and 14 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+6 -2
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@@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.com>
* Author: @author Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -34,8 +34,12 @@
/**
* @file mc_pos_control_main.cpp
* Multicopter position controller.
*
* Multirotor position controller.
* The controller has two loops: P loop for position error and PID loop for velocity error.
* Output of velocity controller is thrust vector that splitted to thrust direction
* (i.e. rotation matrix for multicopter orientation) and thrust module (i.e. multicopter thrust itself).
* Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
*/
#include <nuttx/config.h>