fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 03:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

MC pos control: Comment style fixes

Browse Source
This commit is contained in:
Lorenz Meier
2015-06-27 10:53:00 +02:00
parent 572f1f4637
commit ba68b70b0b
1 changed files with 6 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/mc_pos_control_main.cpp
+6 -6
View File
@@ -1380,16 +1380,16 @@ MulticopterPositionControl::task_main()
reset_int_xy = true;
}
// generate attitude setpoint from manual controls
/* generate attitude setpoint from manual controls */
if(_control_mode.flag_control_manual_enabled && _control_mode.flag_control_attitude_enabled) {
// reset yaw setpoint to current position if needed
/* reset yaw setpoint to current position if needed */
if (reset_yaw_sp) {
reset_yaw_sp = false;
_att_sp.yaw_body = _att.yaw;
}
// do not move yaw while arming
/* do not move yaw while arming */
else if (_manual.z > 0.1f)
{
const float YAW_OFFSET_MAX = _params.man_yaw_max / _params.mc_att_yaw_p;
@@ -1405,19 +1405,19 @@ MulticopterPositionControl::task_main()
}
}
//Control roll and pitch directly if we no aiding velocity controller is active
/* control roll and pitch directly if we no aiding velocity controller is active */
if (!_control_mode.flag_control_velocity_enabled) {
_att_sp.roll_body = _manual.y * _params.man_roll_max;
_att_sp.pitch_body = -_manual.x * _params.man_pitch_max;
}
//Control climb rate directly if no aiding altitude controller is active
/* control throttle directly if no climb rate controller is active */
if (!_control_mode.flag_control_climb_rate_enabled) {
_att_sp.thrust = math::min(_manual.z, _params.thr_max);
_att_sp.thrust = math::max(_att_sp.thrust, _params.thr_min);
}
//Construct attitude setpoint rotation matrix
/* construct attitude setpoint rotation matrix */
math::Matrix<3,3> R_sp;
R_sp.from_euler(_att_sp.roll_body,_att_sp.pitch_body,_att_sp.yaw_body);
memcpy(&_att_sp.R_body[0], R_sp.data, sizeof(_att_sp.R_body));