From 42f4e62a04e069d228d4c1e78356a61ec29a564b Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 13 Mar 2018 08:37:54 +0100 Subject: [PATCH] mc_att_control: clarify corner case comment --- src/modules/mc_att_control/mc_att_control_main.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 2306205b98..5b2b35bfeb 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -845,9 +845,9 @@ MulticopterAttitudeControl::control_attitude(float dt) Quatf qd_red(e_z, e_z_d); if (abs(qd_red(1)) > (1.f - 1e-5f) || abs(qd_red(2)) > (1.f - 1e-5f)) { - /* In the numerical corner case where the vehicle and thrust have the completely opposite direction - * and we have no yaw input with full attitude control anyways directly take the combination of - * roll and pitch leading to the correct desired yaw. Ignoring this case would be totally safe and stable. */ + /* In the infinitesimal corner case where the vehicle and thrust have the completely opposite direction, + * full attitude control anyways generates no yaw input and directly takes the combination of + * roll and pitch leading to the correct desired yaw. Ignoring this case would still be totally safe and stable. */ qd_red = qd; } else {