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FlightTaskOrbit: adapt comments to convention and 2018

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Matthias Grob
2018-05-22 07:55:19 +01:00
committed by ChristophTobler
parent 993d76c0da
commit 79aaa59715
1 changed files with 6 additions and 6 deletions
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src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
+6 -6
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -47,8 +47,8 @@ FlightTaskOrbit::FlightTaskOrbit()
bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
{
const float &r = command.param3; /**< commanded radius */
const float &v = command.param4; /**< commanded velocity */
const float &r = command.param3; // commanded radius
const float &v = command.param4; // commanded velocity
if (math::isInRange(r, 5.f, 50.f) && fabs(v) < 10.f) {
_r = r;
@@ -89,18 +89,18 @@ bool FlightTaskOrbit::update()
_position_setpoint = Vector3f(NAN, NAN, _z);
/* xy velocity to go around in a circle */
// xy velocity to go around in a circle
Vector2f center_to_position = Vector2f(_position.data()) - _center;
Vector2f velocity_xy = Vector2f(center_to_position(1), -center_to_position(0));
velocity_xy = velocity_xy.unit_or_zero();
velocity_xy *= _v;
/* xy velocity adjustment to stay on the radius distance */
// xy velocity adjustment to stay on the radius distance
velocity_xy += (_r - center_to_position.norm()) * center_to_position.unit_or_zero();
_velocity_setpoint = Vector3f(velocity_xy(0), velocity_xy(1), 0.f);
/* make vehicle front always point towards the center */
// make vehicle front always point towards the center
_yaw_setpoint = atan2f(center_to_position(1), center_to_position(0)) + M_PI_F;
return true;
}