From 633469dd8c05e191da97ef36dca3fba6769e76e6 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 28 Nov 2019 12:59:01 +0100 Subject: [PATCH] FixedWingPositionControl: ommit */ with ///< doxygen comments --- .../FixedwingPositionControl.hpp | 82 +++++++++---------- 1 file changed, 41 insertions(+), 41 deletions(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp index 915d9bb63d..7c571be0f1 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp @@ -153,53 +153,53 @@ private: uORB::SubscriptionCallbackWorkItem _global_pos_sub{this, ORB_ID(vehicle_global_position)}; - uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; ///< control mode subscription */ + uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; ///< control mode subscription uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; - uORB::Subscription _manual_control_sub{ORB_ID(manual_control_setpoint)}; ///< notification of manual control updates */ - uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; ///< notification of parameter updates */ + uORB::Subscription _manual_control_sub{ORB_ID(manual_control_setpoint)}; ///< notification of manual control updates + uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; ///< notification of parameter updates uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)}; uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro)}; - uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; ///< vehicle attitude subscription */ - uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; ///< vehicle command subscription */ - uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; ///< vehicle land detected subscription */ - uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; ///< vehicle status subscription */ + uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; ///< vehicle attitude subscription + uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; ///< vehicle command subscription + uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; ///< vehicle land detected subscription + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; ///< vehicle status subscription uORB::SubscriptionData _vehicle_rates_sub{ORB_ID(vehicle_angular_velocity)}; - orb_advert_t _attitude_sp_pub{nullptr}; ///< attitude setpoint */ + orb_advert_t _attitude_sp_pub{nullptr}; ///< attitude setpoint orb_id_t _attitude_setpoint_id{nullptr}; - uORB::Publication _pos_ctrl_status_pub{ORB_ID(position_controller_status)}; ///< navigation capabilities publication */ - uORB::Publication _pos_ctrl_landing_status_pub{ORB_ID(position_controller_landing_status)}; ///< landing status publication */ - uORB::Publication _tecs_status_pub{ORB_ID(tecs_status)}; ///< TECS status publication */ + uORB::Publication _pos_ctrl_status_pub{ORB_ID(position_controller_status)}; ///< navigation capabilities publication + uORB::Publication _pos_ctrl_landing_status_pub{ORB_ID(position_controller_landing_status)}; ///< landing status publication + uORB::Publication _tecs_status_pub{ORB_ID(tecs_status)}; ///< TECS status publication - manual_control_setpoint_s _manual {}; ///< r/c channel data */ - position_setpoint_triplet_s _pos_sp_triplet {}; ///< triplet of mission items */ - vehicle_attitude_s _att {}; ///< vehicle attitude setpoint */ - vehicle_attitude_setpoint_s _att_sp {}; ///< vehicle attitude setpoint */ - vehicle_command_s _vehicle_command {}; ///< vehicle commands */ - vehicle_control_mode_s _control_mode {}; ///< control mode */ - vehicle_global_position_s _global_pos {}; ///< global vehicle position */ - vehicle_local_position_s _local_pos {}; ///< vehicle local position */ - vehicle_land_detected_s _vehicle_land_detected {}; ///< vehicle land detected */ - vehicle_status_s _vehicle_status {}; ///< vehicle status */ + manual_control_setpoint_s _manual {}; ///< r/c channel data + position_setpoint_triplet_s _pos_sp_triplet {}; ///< triplet of mission items + vehicle_attitude_s _att {}; ///< vehicle attitude setpoint + vehicle_attitude_setpoint_s _att_sp {}; ///< vehicle attitude setpoint + vehicle_command_s _vehicle_command {}; ///< vehicle commands + vehicle_control_mode_s _control_mode {}; ///< control mode + vehicle_global_position_s _global_pos {}; ///< global vehicle position + vehicle_local_position_s _local_pos {}; ///< vehicle local position + vehicle_land_detected_s _vehicle_land_detected {}; ///< vehicle land detected + vehicle_status_s _vehicle_status {}; ///< vehicle status SubscriptionData _airspeed_validated_sub{ORB_ID(airspeed_validated)}; SubscriptionData _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)}; - perf_counter_t _loop_perf; ///< loop performance counter */ + perf_counter_t _loop_perf; ///< loop performance counter - float _hold_alt{0.0f}; ///< hold altitude for altitude mode */ - float _takeoff_ground_alt{0.0f}; ///< ground altitude at which plane was launched */ - float _hdg_hold_yaw{0.0f}; ///< hold heading for velocity mode */ - bool _hdg_hold_enabled{false}; ///< heading hold enabled */ - bool _yaw_lock_engaged{false}; ///< yaw is locked for heading hold */ - float _althold_epv{0.0f}; ///< the position estimate accuracy when engaging alt hold */ - bool _was_in_deadband{false}; ///< wether the last stick input was in althold deadband */ + float _hold_alt{0.0f}; ///< hold altitude for altitude mode + float _takeoff_ground_alt{0.0f}; ///< ground altitude at which plane was launched + float _hdg_hold_yaw{0.0f}; ///< hold heading for velocity mode + bool _hdg_hold_enabled{false}; ///< heading hold enabled + bool _yaw_lock_engaged{false}; ///< yaw is locked for heading hold + float _althold_epv{0.0f}; ///< the position estimate accuracy when engaging alt hold + bool _was_in_deadband{false}; ///< wether the last stick input was in althold deadband - position_setpoint_s _hdg_hold_prev_wp {}; ///< position where heading hold started */ - position_setpoint_s _hdg_hold_curr_wp {}; ///< position to which heading hold flies */ + position_setpoint_s _hdg_hold_prev_wp {}; ///< position where heading hold started + position_setpoint_s _hdg_hold_curr_wp {}; ///< position to which heading hold flies - hrt_abstime _control_position_last_called{0}; ///< last call of control_position */ + hrt_abstime _control_position_last_called{0}; ///< last call of control_position /* Landing */ bool _land_noreturn_horizontal{false}; @@ -211,18 +211,18 @@ private: Landingslope _landingslope; - hrt_abstime _time_started_landing{0}; ///< time at which landing started */ + hrt_abstime _time_started_landing{0}; ///< time at which landing started - float _t_alt_prev_valid{0}; ///< last terrain estimate which was valid */ - hrt_abstime _time_last_t_alt{0}; ///< time at which we had last valid terrain alt */ + float _t_alt_prev_valid{0}; ///< last terrain estimate which was valid + hrt_abstime _time_last_t_alt{0}; ///< time at which we had last valid terrain alt - float _flare_height{0.0f}; ///< estimated height to ground at which flare started */ - float _flare_pitch_sp{0.0f}; ///< Current forced (i.e. not determined using TECS) flare pitch setpoint */ + float _flare_height{0.0f}; ///< estimated height to ground at which flare started + float _flare_pitch_sp{0.0f}; ///< Current forced (i.e. not determined using TECS) flare pitch setpoint float _flare_curve_alt_rel_last{0.0f}; - float _target_bearing{0.0f}; ///< estimated height to ground at which flare started */ + float _target_bearing{0.0f}; ///< estimated height to ground at which flare started bool _was_in_air{false}; ///< indicated wether the plane was in the air in the previous interation*/ - hrt_abstime _time_went_in_air{0}; ///< time at which the plane went in the air */ + hrt_abstime _time_went_in_air{0}; ///< time at which the plane went in the air /* Takeoff launch detection and runway */ LaunchDetector _launchDetector; @@ -308,7 +308,7 @@ private: // VTOL float airspeed_trans; int32_t vtol_type; - } _parameters{}; ///< local copies of interesting parameters */ + } _parameters{}; ///< local copies of interesting parameters struct { param_t climbout_diff; @@ -372,7 +372,7 @@ private: param_t loiter_radius; param_t vtol_type; - } _parameter_handles {}; ///< handles for interesting parameters */ + } _parameter_handles {}; ///< handles for interesting parameters DEFINE_PARAMETERS( (ParamFloat) _groundspeed_min