From 4d11b4e06cb64cfe88945494491499d15913ead8 Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Tue, 24 Aug 2021 22:12:32 +0200 Subject: [PATCH] npfg: header formatting --- src/lib/npfg/npfg.hpp | 61 +++++++++++++++++++++---------------------- 1 file changed, 30 insertions(+), 31 deletions(-) diff --git a/src/lib/npfg/npfg.hpp b/src/lib/npfg/npfg.hpp index ade25b9de4..21d21e64b0 100644 --- a/src/lib/npfg/npfg.hpp +++ b/src/lib/npfg/npfg.hpp @@ -182,7 +182,7 @@ public: /* * @return Feed-forward lateral acceleration command increment for tracking - * path curvature [m/s^2] + * path curvature [m/s^2] */ float getLateralAccelFF() const { return lateral_accel_ff_; } @@ -266,28 +266,28 @@ public: /* * Keep the wings level. - * - * @param[in] heading Heading angle [rad] + * + * @param[in] heading Heading angle [rad] */ void navigateLevelFlight(const float heading); /* - * [Copied directly from ECL_L1_Pos_Controller] - * + * [Copied directly from ECL_L1_Pos_Controller] + * * Set the maximum roll angle output in radians */ void setRollLimit(float roll_lim_rad) { roll_lim_rad_ = roll_lim_rad; } /* - * [Copied directly from ECL_L1_Pos_Controller] - * + * [Copied directly from ECL_L1_Pos_Controller] + * * Set roll angle slew rate. Set to zero to deactivate. */ void setRollSlewRate(float roll_slew_rate) { roll_slew_rate_ = roll_slew_rate; } /* - * [Copied directly from ECL_L1_Pos_Controller] - * + * [Copied directly from ECL_L1_Pos_Controller] + * * Set control loop dt. The value will be used to apply roll angle setpoint slew rate limiting. */ void setDt(const float dt) { dt_ = dt; } @@ -410,7 +410,7 @@ private: /* * Adapts the controller period considering user defined inputs, current flight - * condition, path properties, and stability bounds. + * condition, path properties, and stability bounds. * * @param[in] ground_speed Vehicle ground speed [m/s] * @param[in] airspeed Vehicle airspeed [m/s] @@ -420,8 +420,8 @@ private: * @param[in] wind_vel Wind velocity vector in inertial frame [m/s] * @param[in] unit_path_tangent Unit vector tangent to path at closest point * in direction of path - * @param[in] feas_on_track Bearing feasibility on track at the closest point - * @return Adapted period [s] + * @param[in] feas_on_track Bearing feasibility on track at the closest point + * @return Adapted period [s] */ float adaptPeriod(const float ground_speed, const float airspeed, const float wind_ratio, const float track_error, const float path_curvature, const matrix::Vector2f &wind_vel, @@ -484,35 +484,36 @@ private: * track error vector to that of the path tangent vector. * * @param[in] ground_speed Vehicle ground speed [m/s] - * ADSFASDFSAFDSF + * @param[in] time_const Controller time constant [s] * @return Track error boundary [m] */ float trackErrorBound(const float ground_speed, const float time_const) const; /* - * Calculates the required controller proportional gain to achieve the desired - * system period and damping ratio. NOTE: actual period and damping will vary - * when following paths with curvature in wind. + * Calculates the required controller proportional gain to achieve the desired + * system period and damping ratio. NOTE: actual period and damping will vary + * when following paths with curvature in wind. * * @param[in] period Desired system period [s] - * @param[in] damping Desired system damping ratio - * @return Proportional gain [rad/s] + * @param[in] damping Desired system damping ratio + * @return Proportional gain [rad/s] */ float pGain(const float period, const float damping) const; /* * Calculates the required controller time constant to achieve the desired - * system period and damping ratio. NOTE: actual period and damping will vary - * when following paths with curvature in wind. + * system period and damping ratio. NOTE: actual period and damping will vary + * when following paths with curvature in wind. * * @param[in] period Desired system period [s] - * @param[in] damping Desired system damping ratio - * @return Time constant [s] + * @param[in] damping Desired system damping ratio + * @return Time constant [s] */ float timeConst(const float period, const float damping) const; /* - * Cacluates the look ahead angle as a function of the normalized track error. + * Cacluates the look ahead angle as a quadratic function of the normalized + * track error. * * @param[in] normalized_track_error Normalized track error (track error / track error boundary) * @return Look ahead angle [rad] @@ -523,14 +524,12 @@ private: * Calculates the bearing vector and track proximity transitioning variable * from the look-ahead angle mapping. * - * @param[out] track_proximity Smoothing parameter based on vehicle proximity - * to track with values between 0 (at track error boundary) and 1 (on track) - * @param[in] unit_track_error Unit vector in direction from vehicle to - * closest point on path * @param[in] unit_path_tangent Unit vector tangent to path at closest point * in direction of path * @param[in] look_ahead_ang The bearing vector lies at this angle from * the path normal vector [rad] + * @param[in] signed_track_error Signed error to track at closest point (sign + * determined by path normal direction) [m] * @return Unit bearing vector */ matrix::Vector2f bearingVec(const matrix::Vector2f &unit_path_tangent, const float look_ahead_ang, @@ -541,7 +540,7 @@ private: * ground speed maintanence as well as track keeping logic. * * @param[in] normalized_track_error Normalized track error (track error / track error boundary) - * @param[in] feas Bearing feasibility + * @param[in] feas Bearing feasibility * @return Minimum forward ground speed demand [m/s] */ float minGroundSpeed(const float normalized_track_error, const float feas); @@ -626,7 +625,7 @@ private: /* * Calculates an additional feed-forward lateral acceleration demand considering - * the path curvature. The full effect of the acceleration increment is smoothly + * the path curvature. The full effect of the acceleration increment is smoothly * ramped in as the vehicle approaches the track and is further smoothly * zeroed out as the bearing becomes infeasible. * @@ -692,8 +691,8 @@ private: matrix::Vector2f getLocalPlanarVector(const matrix::Vector2d &origin, const matrix::Vector2d &target) const; /** - * [Copied directly from ECL_L1_Pos_Controller] - * + * [Copied directly from ECL_L1_Pos_Controller] + * * Update roll angle setpoint. This will also apply slew rate limits if set. */ void updateRollSetpoint();