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FlightTaskAutoMapper: clean-up and fix comments

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Martina 2018-07-23 19:06:14 +02:00 committed by ChristophTobler
parent d85481be6d
commit 3f2f399b91
2 changed files with 6 additions and 6 deletions
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8
src/lib/FlightTasks/tasks/FlightTaskAutoMapper.cpp
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@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file FlightAutoLine.cpp
* @file FlightAutoMapper.cpp
*/
#include "FlightTaskAutoMapper.hpp"
@ -108,7 +108,7 @@ void FlightTaskAutoMapper::_reset()
void FlightTaskAutoMapper::_generateIdleSetpoints()
{
// Send zero thrust setpoint */
// Send zero thrust setpoint
_position_setpoint = Vector3f(NAN, NAN, NAN); // Don't require any position/velocity setpoints
_velocity_setpoint = Vector3f(NAN, NAN, NAN);
_thrust_setpoint.zero();
@ -116,7 +116,7 @@ void FlightTaskAutoMapper::_generateIdleSetpoints()
void FlightTaskAutoMapper::_generateLandSetpoints()
{
// Keep xy-position and go down with landspeed. */
// Keep xy-position and go down with landspeed
_position_setpoint = Vector3f(_target(0), _target(1), NAN);
_velocity_setpoint = Vector3f(Vector3f(NAN, NAN, MPC_LAND_SPEED.get()));
// set constraints
@ -127,7 +127,7 @@ void FlightTaskAutoMapper::_generateLandSetpoints()
void FlightTaskAutoMapper::_generateTakeoffSetpoints()
{
// Takeoff is completely defined by target position. */
// Takeoff is completely defined by target position
_position_setpoint = _target;
_velocity_setpoint = Vector3f(NAN, NAN, NAN);

4
src/lib/FlightTasks/tasks/FlightTaskAutoMapper.hpp
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@ -34,8 +34,8 @@
/**
* @file FlightTaskAutoMapper.hpp
*
* Flight task for autonomous, gps driven mode. The vehicle flies
* along a straight line in between waypoints.
* Abstract Flight task which generates local setpoints
* based on the triplet type.
*/
#pragma once