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Code style: minor comment styling

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This commit is contained in:
Lorenz Meier
2015-01-17 23:32:00 +01:00
parent b1127315b4
commit 378dcc53d6
3 changed files with 24 additions and 27 deletions
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src/modules/land_detector/FixedwingLandDetector.cpp
+6 -7
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@@ -51,7 +51,6 @@ FixedwingLandDetector::FixedwingLandDetector() : LandDetector(),
_airspeedSub(-1),
_airspeed({}),
_parameterSub(-1),
_velocity_xy_filtered(0.0f),
_velocity_z_filtered(0.0f),
_airspeed_filtered(0.0f),
@@ -64,7 +63,7 @@ FixedwingLandDetector::FixedwingLandDetector() : LandDetector(),
void FixedwingLandDetector::initialize()
{
//Subscribe to local position and airspeed data
// Subscribe to local position and airspeed data
_vehicleLocalPositionSub = orb_subscribe(ORB_ID(vehicle_local_position));
_airspeedSub = orb_subscribe(ORB_ID(airspeed));
}
@@ -77,30 +76,30 @@ void FixedwingLandDetector::updateSubscriptions()
bool FixedwingLandDetector::update()
{
//First poll for new data from our subscriptions
// First poll for new data from our subscriptions
updateSubscriptions();
const uint64_t now = hrt_absolute_time();
bool landDetected = false;
//TODO: reset filtered values on arming?
// TODO: reset filtered values on arming?
_velocity_xy_filtered = 0.95f * _velocity_xy_filtered + 0.05f * sqrtf(_vehicleLocalPosition.vx *
_vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy);
_velocity_z_filtered = 0.95f * _velocity_z_filtered + 0.05f * fabsf(_vehicleLocalPosition.vz);
_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.true_airspeed_m_s;
/* crude land detector for fixedwing */
// crude land detector for fixedwing
if (_velocity_xy_filtered < _params.maxVelocity
&& _velocity_z_filtered < _params.maxClimbRate
&& _airspeed_filtered < _params.maxAirSpeed) {
//These conditions need to be stable for a period of time before we trust them
// these conditions need to be stable for a period of time before we trust them
if (now > _landDetectTrigger) {
landDetected = true;
}
} else {
//reset land detect trigger
// reset land detect trigger
_landDetectTrigger = now + LAND_DETECTOR_TRIGGER_TIME;
}