FlightTask: comment fixes

src/lib/FlightTasks/tasks/FlightTask.cpp

@@ -2,7 +2,6 @@
 #include <mathlib/mathlib.h>
 
 constexpr uint64_t FlightTask::_timeout;
-
 /* First index of empty_setpoint corresponds to time-stamp and requires a finite number. */
 const vehicle_local_position_setpoint_s FlightTask::empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}};
 
@@ -60,7 +59,6 @@ bool FlightTask::_evaluateVehicleLocalPosition()
 		_position = matrix::Vector3f(&_sub_vehicle_local_position->get().x);
 		_velocity = matrix::Vector3f(&_sub_vehicle_local_position->get().vx);
 		_yaw = _sub_vehicle_local_position->get().yaw;
-
 		return true;
 
 	} else {

src/lib/FlightTasks/tasks/FlightTask.hpp

@@ -132,12 +132,6 @@ protected:
 	 */
 	void _resetSetpoints();
 
-	/**
-	 *  Vehicle local position subscription
-	 *  TODO: Implement a message that is smaller than the
-	 *  current vehicle local position message
-	 */
 	uORB::Subscription<vehicle_local_position_s> *_sub_vehicle_local_position{nullptr};
-
 	bool _evaluateVehicleLocalPosition();
 };

src/lib/FlightTasks/tasks/FlightTaskAuto.hpp

@@ -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
@@ -45,7 +45,9 @@
 #include <uORB/topics/position_setpoint.h>
 #include <lib/geo/geo.h>
 
-/* This enum has to agree with position_setpoint_s type definition */
+/* This enum has to agree with position_setpoint_s type definition
+ * The only reason for not using the struct position_setpoint is because
+ * of the size */
 enum class WaypointType : int {
 	position = 0,
 	velocity,
@@ -69,27 +71,24 @@ public:
 	bool updateInitialize() override;
 
 protected:
-
-	matrix::Vector3f _prev_prev_wp{}; /**< Triplet previous-previous triplet. This will be used for smoothing trajectories -> not used yet. */
-	matrix::Vector3f _prev_wp{}; /**< Triplet previous setpoint in local frame. If not previous triplet is available, the prev_wp is set to current position. */
-	matrix::Vector3f _target{}; /**< Triplet target setpoint in local frame. */
-	matrix::Vector3f _next_wp{}; /**< Triplet setpoint in local frame. If no next setpoint is available, next is set to target. */
-	float _yaw_wp{0.0f}; /**< Triplet yaw waypoint. Unfortunately navigator sends yaw setpoint continuously. It would be better if a yaw setpoint is attached
-	to triplet waypoint. This way it would be easy for multicopter to implement features where yaw does not matter. */
-	float _mc_cruise_speed{0.0f}; /**< Cruise speed with which multicopter flies and gets set by triplet. If no valid, default cruise speed is used. */
+	matrix::Vector3f _prev_prev_wp{}; /**< Pre-previous waypoint (local frame). This will be used for smoothing trajectories -> not used yet. */
+	matrix::Vector3f _prev_wp{}; /**< Previous waypoint  (local frame). If no previous triplet is available, the prev_wp is set to current position. */
+	matrix::Vector3f _target{}; /**< Target waypoint  (local frame).*/
+	matrix::Vector3f _next_wp{}; /**< The next waypoint after target (local frame). If no next setpoint is available, next is set to target. */
+	float _yaw_wp{0.0f}; /**< Triplet yaw waypoint. Currently it is not a yaw-waypoint, but rather a yaw setpoint at each time stamp. */
+	float _mc_cruise_speed{0.0f}; /**< Requested cruise speed. If not valid, default cruise speed is used. */
 	WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
 
 private:
-	control::BlockParamFloat _mc_cruise_default; /**< Default mc cruise speed*/
-	map_projection_reference_s _reference; /**< Reference frame from global to local */
+	control::BlockParamFloat _mc_cruise_default; /**< Default mc cruise speed.*/
+	map_projection_reference_s _reference; /**< Reference frame from global to local. */
 	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
-	map_projection_reference_s _reference_position{}; /**< Structure used to project lat/lon setpoint into local frame */
-	float _reference_altitude = 0.0f;  /**< Altitude relative to ground */
-	hrt_abstime _time_stamp_reference = 0; /**< time stamp when last reference update */
+	map_projection_reference_s _reference_position{}; /**< Structure used to project lat/lon setpoint into local frame. */
+	float _reference_altitude = 0.0f;  /**< Altitude relative to ground. */
+	hrt_abstime _time_stamp_reference = 0; /**< time stamp when last reference update occured. */
 
-	bool _evaluateTriplets(); /**< Checks and sets triplets */
-	bool _isFinite(const position_setpoint_s sp);
-	void _updateReference();
-
-	void _evaluateVehicleGlobalPosition(); /**< Required for reference update */
+	bool _evaluateTriplets(); /**< Checks and sets triplets. */
+	bool _isFinite(const position_setpoint_s sp); /**< Checks if all waypoint triplets are finite. */
+	void _updateReference(); /**< Updates the local reference. */
+	void _evaluateVehicleGlobalPosition(); /**< Checks if global position is valid. */
 };

src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp

@@ -69,7 +69,7 @@ bool FlightTaskAutoLine::update()
 	bool follow_line = _type == WaypointType::loiter || _type == WaypointType::position;
 	bool follow_line_prev = _type_previous == WaypointType::loiter || _type_previous == WaypointType::position;
 
-	/* 1st time that vehicle starts to follow line. Reset all setpoints to current vehicle state */
+	/* 1st time that vehicle starts to follow line. Reset all setpoints to current vehicle state. */
 	if (follow_line && !follow_line_prev) {
 		_reset();
 	}
@@ -100,8 +100,8 @@ bool FlightTaskAutoLine::update()
 
 	/* For now yaw setpoint comes directly form triplets.
 	 * TODO: In the future, however, yaw should be set in this
-	 * task based on flag: yaw along path, yaw along gimbal, yaw
-	 * same as during home... */
+	 * task based on flag: yaw along path, yaw based on gimbal, yaw
+	 * same as home yaw ... */
 	_yaw_setpoint = _yaw_wp;
 
 	/* Update previous type */

src/lib/FlightTasks/tasks/FlightTaskAutoLine.hpp

@@ -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

src/modules/mc_pos_control/PositionControl.cpp

@@ -227,10 +227,6 @@ void PositionControl::_velocityController(const float &dt)
 
 	Vector3f vel_err = _vel_sp - _vel;
 
-	/*
-	 * TODO: add offboard acceleration mode
-	 * */
-
 	/* Consider thrust in D-direction */
 	float thrust_desired_D = Pv(2) * vel_err(2) + Dv(2) * _vel_dot(2) + _thr_int(2) - _ThrHover;