From 5a4701c7de232ffb9d08f5f7d7537f795c84dfaa Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Wed, 18 Apr 2018 11:21:07 +0200 Subject: [PATCH] Flighttask: update comments --- src/lib/FlightTasks/tasks/FlightTask.hpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/src/lib/FlightTasks/tasks/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask.hpp index e348e0dd29..411cf317e2 100644 --- a/src/lib/FlightTasks/tasks/FlightTask.hpp +++ b/src/lib/FlightTasks/tasks/FlightTask.hpp @@ -147,8 +147,14 @@ protected: matrix::Vector3f _velocity; /**< current vehicle velocity */ float _yaw = 0.f; - /* Setpoints the position controller needs to execute - * NAN values mean the state does not get controlled */ + /** + * Setpoints which the position controller has to execute. + * Setpoints that are set to NAN are not controlled. Not all setpoints can be set at the same time. + * If more than one type of setpoint is set, then order of control is a as follow: position, velocity, + * acceleration, thrust. The exception is _position_setpoint together with _velocity_setpoint, where the + * _velocity_setpoint is used as feedforward. + * _acceleration_setpoint is currently not supported. + */ matrix::Vector3f _position_setpoint; matrix::Vector3f _velocity_setpoint; matrix::Vector3f _acceleration_setpoint;