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FlightTaskOrbit: move line break causing comments before

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This commit is contained in:
Matthias Grob
2020-07-13 08:20:25 +02:00
parent 7ecccf01c2
commit 1b7349339e
1 changed files with 8 additions and 7 deletions
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src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.hpp
+8 -7
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@@ -88,11 +88,12 @@ protected:
bool setVelocity(const float v); bool setVelocity(const float v);
private: private:
void generate_circle_approach_setpoints(matrix::Vector2f /** generates setpoints to smoothly reach the closest point on the circle when starting from far away */
start_to_circle); /**< generates setpoints to smoothly reach the closest point on the circle when starting from far away */ void generate_circle_approach_setpoints(matrix::Vector2f &center_to_position);
void generate_circle_setpoints(matrix::Vector2f center_to_position); /**< generates xy setpoints to orbit the vehicle */ /** generates xy setpoints to make the vehicle orbit */
void generate_circle_yaw_setpoints(matrix::Vector2f void generate_circle_setpoints(matrix::Vector2f &center_to_position);
center_to_position); /**< generates yaw setpoints to control the vehicle's heading */ /** generates yaw setpoints to control the vehicle's heading */
void generate_circle_yaw_setpoints(matrix::Vector2f &center_to_position);
float _r = 0.f; /**< radius with which to orbit the target */ float _r = 0.f; /**< radius with which to orbit the target */
float _v = 0.f; /**< clockwise tangential velocity for orbiting in m/s */ float _v = 0.f; /**< clockwise tangential velocity for orbiting in m/s */
@@ -107,8 +108,8 @@ private:
const float _velocity_max = 10.f; const float _velocity_max = 10.f;
const float _acceleration_max = 2.f; const float _acceleration_max = 2.f;
int _yaw_behaviour = /** yaw behaviour during the orbit flight according to MAVLink's ORBIT_YAW_BEHAVIOUR enum */
orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER; /**< yaw behaviour during the orbit flight according to MAVLink's ORBIT_YAW_BEHAVIOUR enum */ int _yaw_behaviour = orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER;
float _initial_heading = 0.f; /**< the heading of the drone when the orbit command was issued */ float _initial_heading = 0.f; /**< the heading of the drone when the orbit command was issued */
uORB::Publication<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)}; uORB::Publication<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)};