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mc_pos_control: fix comments and spacing inconsistencies

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This commit is contained in:
Matthias Grob
2018-11-12 18:31:30 +00:00
committed by Beat Küng
parent 8cb446c233
commit 013a2655e2
1 changed files with 7 additions and 7 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+7 -7
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@@ -140,7 +140,7 @@ private:
(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _vel_max_down, (ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _vel_max_down,
(ParamFloat<px4::params::MPC_LAND_SPEED>) _land_speed, (ParamFloat<px4::params::MPC_LAND_SPEED>) _land_speed,
(ParamFloat<px4::params::MPC_TKO_SPEED>) _tko_speed, (ParamFloat<px4::params::MPC_TKO_SPEED>) _tko_speed,
(ParamFloat<px4::params::MPC_LAND_ALT2>) MPC_LAND_ALT2, // altitude at which speed limit downwards reached minimum speed (ParamFloat<px4::params::MPC_LAND_ALT2>) MPC_LAND_ALT2, /**< downwards speed limited below this altitude */
(ParamInt<px4::params::MPC_POS_MODE>) MPC_POS_MODE, (ParamInt<px4::params::MPC_POS_MODE>) MPC_POS_MODE,
(ParamInt<px4::params::MPC_AUTO_MODE>) MPC_AUTO_MODE, (ParamInt<px4::params::MPC_AUTO_MODE>) MPC_AUTO_MODE,
(ParamInt<px4::params::MPC_ALT_MODE>) MPC_ALT_MODE, (ParamInt<px4::params::MPC_ALT_MODE>) MPC_ALT_MODE,
@@ -153,15 +153,15 @@ private:
control::BlockDerivative _vel_y_deriv; /**< velocity derivative in y */ control::BlockDerivative _vel_y_deriv; /**< velocity derivative in y */
control::BlockDerivative _vel_z_deriv; /**< velocity derivative in z */ control::BlockDerivative _vel_z_deriv; /**< velocity derivative in z */
FlightTasks _flight_tasks; /**< class that generates position controller tracking setpoints*/ FlightTasks _flight_tasks; /**< class generating position controller setpoints depending on vehicle task */
PositionControl _control; /**< class that handles the core PID position controller */ PositionControl _control; /**< class for core PID position control */
PositionControlStates _states{}; /**< structure that contains required state information for position control */ PositionControlStates _states{}; /**< structure containing vehicle state information for position control */
hrt_abstime _last_warn = 0; /**< timer when the last warn message was sent out */ hrt_abstime _last_warn = 0; /**< timer when the last warn message was sent out */
bool _in_failsafe = false; /**< true if failsafe was entered within current cycle */ bool _in_failsafe = false; /**< true if failsafe was entered within current cycle */
/** Timeout in us for trajectory data to get considered invalid */ /**< Timeout in us for trajectory data to get considered invalid */
static constexpr uint64_t TRAJECTORY_STREAM_TIMEOUT_US = 500000; static constexpr uint64_t TRAJECTORY_STREAM_TIMEOUT_US = 500000;
/**< number of tries before switching to a failsafe flight task */ /**< number of tries before switching to a failsafe flight task */
static constexpr int NUM_FAILURE_TRIES = 10; static constexpr int NUM_FAILURE_TRIES = 10;
@@ -187,12 +187,12 @@ private:
* Parameter update can be forced when argument is true. * Parameter update can be forced when argument is true.
* @param force forces parameter update. * @param force forces parameter update.
*/ */
int parameters_update(bool force); int parameters_update(bool force);
/** /**
* Check for changes in subscribed topics. * Check for changes in subscribed topics.
*/ */
void poll_subscriptions(); void poll_subscriptions();
/** /**
* Check for validity of positon/velocity states. * Check for validity of positon/velocity states.