From 7160da741de556e1005fb33d033aa1a20ba8821d Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Mon, 21 Aug 2023 15:08:01 +0200 Subject: [PATCH] FixedwingPositionControl: correct navigation method param description typos --- .../fw_pos_control/FixedwingPositionControl.hpp | 16 +++++++--------- 1 file changed, 7 insertions(+), 9 deletions(-) diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.hpp b/src/modules/fw_pos_control/FixedwingPositionControl.hpp index 6b3c17a2ae..ee122c0024 100644 --- a/src/modules/fw_pos_control/FixedwingPositionControl.hpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.hpp @@ -783,11 +783,9 @@ private: * method of the same name. Takes two waypoints and determines the relevant * parameters for evaluating the NPFG guidance law, then updates control setpoints. * - * @param[in] waypoint_A Waypoint A (segment start) position in WGS84 coordinates - * (lat,lon) [deg] - * @param[in] waypoint_B Waypoint B (segment end) position in WGS84 coordinates - * (lat,lon) [deg] - * @param[in] vehicle_pos Vehicle position in WGS84 coordinates (lat,lon) [deg] + * @param[in] waypoint_A Waypoint A (segment start) position in local coordinates. (N,E) [m] + * @param[in] waypoint_B Waypoint B (segment end) position in local coordinates. (N,E) [m] + * @param[in] vehicle_pos Vehicle position in local coordinates. (N,E) [m] * @param[in] ground_vel Vehicle ground velocity vector [m/s] * @param[in] wind_vel Wind velocity vector [m/s] */ @@ -802,7 +800,7 @@ private: * * @param[in] point_on_line_1 Line segment start position in local coordinates. (N,E) [m] * @param[in] point_on_line_2 Line segment end position in local coordinates. (N,E) [m] - * @param[in] vehicle_pos Vehicle position in WGS84 coordinates (N,E) [m] + * @param[in] vehicle_pos Vehicle position in local coordinates. (N,E) [m] * @param[in] ground_vel Vehicle ground velocity vector [m/s] * @param[in] wind_vel Wind velocity vector [m/s] */ @@ -843,8 +841,8 @@ private: * Path following logic. Takes poisiton, path tangent, curvature and * then updates control setpoints to follow a path setpoint. * - * @param[in] vehicle_pos vehicle_pos Vehicle position in WGS84 coordinates (lat,lon) [deg] - * @param[in] position_setpoint closest point on a path in WGS84 coordinates (lat,lon) [deg] + * @param[in] vehicle_pos vehicle_pos Vehicle position in local coordinates. (N,E) [m] + * @param[in] position_setpoint closest point on a path in local coordinates. (N,E) [m] * @param[in] tangent_setpoint unit tangent vector of the path [m] * @param[in] ground_vel Vehicle ground velocity vector [m/s] * @param[in] wind_vel Wind velocity vector [m/s] @@ -860,7 +858,7 @@ private: * This only holds a certain (ground relative) direction and does not perform * cross track correction. Helpful for semi-autonomous modes. Similar to navigateHeading. * - * @param[in] vehicle_pos vehicle_pos Vehicle position in WGS84 coordinates (lat,lon) [deg] + * @param[in] vehicle_pos vehicle_pos Vehicle position in local coordinates. (N,E) [m] * @param[in] bearing Bearing angle [rad] * @param[in] ground_vel Vehicle ground velocity vector [m/s] * @param[in] wind_vel Wind velocity vector [m/s]