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add some comments for clarification

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Thomas Gubler
2013-11-01 14:02:55 +01:00
parent 97a54d1b5e
commit a6b85cfbf7
1 changed files with 6 additions and 6 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+6 -6
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@@ -729,8 +729,8 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
} else if (global_triplet.current.nav_cmd == NAV_CMD_LAND) { } else if (global_triplet.current.nav_cmd == NAV_CMD_LAND) {
/* Horizontal landing control */
/* switch to heading hold for the last meters, continue heading hold after */ /* switch to heading hold for the last meters, continue heading hold after */
float wp_distance = get_distance_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), current_position.getX(), current_position.getY()); float wp_distance = get_distance_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), current_position.getX(), current_position.getY());
//warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO"); //warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO");
if (wp_distance < 15.0f || land_noreturn) { if (wp_distance < 15.0f || land_noreturn) {
@@ -758,16 +758,16 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
/* normal navigation */ /* normal navigation */
_l1_control.navigate_waypoints(prev_wp, next_wp, current_position, ground_speed); _l1_control.navigate_waypoints(prev_wp, next_wp, current_position, ground_speed);
} }
_att_sp.roll_body = _l1_control.nav_roll();
_att_sp.yaw_body = _l1_control.nav_bearing();
/* Vertical landing control */
// /* do not go down too early */ // /* do not go down too early */
// if (wp_distance > 50.0f) { // if (wp_distance > 50.0f) {
// altitude_error = (_global_triplet.current.altitude + 25.0f) - _global_pos.alt; // altitude_error = (_global_triplet.current.altitude + 25.0f) - _global_pos.alt;
// } // }
_att_sp.roll_body = _l1_control.nav_roll();
_att_sp.yaw_body = _l1_control.nav_bearing();
/* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */ /* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */
// XXX this could make a great param // XXX this could make a great param