From 5e7ebbe47c3637fcea236db14df5c67a0e97b6bb Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 13 Apr 2021 15:55:38 +0200 Subject: [PATCH] FlightTask: correct comment about setpoints --- .../flight_mode_manager/tasks/FlightTask/FlightTask.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp index 0e3a2b4003..c42852c0c4 100644 --- a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp +++ b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp @@ -239,8 +239,8 @@ protected: * 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 and _jerk_setpoint are currently not supported. + * _velocity_setpoint and _acceleration_setpoint are used as feedforward. + * _jerk_setpoint does not executed but just serves as internal state. */ matrix::Vector3f _position_setpoint; matrix::Vector3f _velocity_setpoint;