From 9a6bf91b93824eb694a01e1ed3db757fec6b906d Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 12 Jul 2013 09:10:58 +0200
Subject: [PATCH] More comments

---
 src/modules/mc_att_control_vector/ecl_mc_att_control_vector.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.cpp b/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.cpp
index 8bee18ba49..b0e010a1c0 100644
--- a/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.cpp
+++ b/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.cpp
@@ -76,6 +76,7 @@ void ECL_MCAttControlVector::control(float dt, const math::Dcm &R_nb, float yaw,
      
     // desired thrust in body frame
     // avoid division by zero
+    // compensates for thrust loss due to roll/pitch
     if (F_des(2) >= 0.1f) {
         thrust = F_des(2) / R_bn(2, 2);
     } else {