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Flighttask: update comments

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Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 97be84b0e4
commit 5a4701c7de
1 changed files with 8 additions and 2 deletions
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src/lib/FlightTasks/tasks/FlightTask.hpp
+8 -2
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@@ -147,8 +147,14 @@ protected:
matrix::Vector3f _velocity; /**< current vehicle velocity */ matrix::Vector3f _velocity; /**< current vehicle velocity */
float _yaw = 0.f; 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 _position_setpoint;
matrix::Vector3f _velocity_setpoint; matrix::Vector3f _velocity_setpoint;
matrix::Vector3f _acceleration_setpoint; matrix::Vector3f _acceleration_setpoint;