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commander: Fix comment typos.

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Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com>
This commit is contained in:
Ricardo Marques
2020-11-24 17:41:36 +01:00
committed by Mathieu Bresciani
parent 336639897e
commit 3215c50660
1 changed files with 5 additions and 5 deletions
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src/modules/commander/Commander.cpp
+4 -4
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@@ -746,7 +746,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
const bool cmd_from_io = (static_cast<int>(roundf(cmd.param3)) == 1234); const bool cmd_from_io = (static_cast<int>(roundf(cmd.param3)) == 1234);
// Flick to inair restore first if this comes from an onboard system and from IO // Flick to in-air restore first if this comes from an onboard system and from IO
if (cmd.source_system == status_local->system_id && cmd.source_component == status_local->component_id if (cmd.source_system == status_local->system_id && cmd.source_component == status_local->component_id
&& cmd_from_io && cmd_arms) { && cmd_from_io && cmd_arms) {
status.arming_state = vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE; status.arming_state = vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE;
@@ -2011,7 +2011,7 @@ Commander::run()
const bool stick_in_lower_right = _manual_control_setpoint.r > STICK_ON_OFF_LIMIT && _manual_control_setpoint.z < 0.1f const bool stick_in_lower_right = _manual_control_setpoint.r > STICK_ON_OFF_LIMIT && _manual_control_setpoint.z < 0.1f
&& !arm_switch_or_button_mapped; && !arm_switch_or_button_mapped;
/* allow a grace period for re-arming: preflight checks don't need to pass during that time, /* allow a grace period for re-arming: preflight checks don't need to pass during that time,
* for example for accidential in-air disarming */ * for example for accidental in-air disarming */
const bool in_rearming_grace_period = _param_com_rearm_grace.get() && (_last_disarmed_timestamp != 0) const bool in_rearming_grace_period = _param_com_rearm_grace.get() && (_last_disarmed_timestamp != 0)
&& (hrt_elapsed_time(&_last_disarmed_timestamp) < 5_s); && (hrt_elapsed_time(&_last_disarmed_timestamp) < 5_s);
@@ -2710,7 +2710,7 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
} }
// Note: even if status_flags.offboard_control_set_by_command is set // Note: even if status_flags.offboard_control_set_by_command is set
// we want to allow rc mode change to take precidence. This is a safety // we want to allow rc mode change to take precedence. This is a safety
// feature, just in case offboard control goes crazy. // feature, just in case offboard control goes crazy.
// only switch mode based on RC switch if necessary to also allow mode switching via MAVLink // only switch mode based on RC switch if necessary to also allow mode switching via MAVLink
@@ -3010,7 +3010,7 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
} else { } else {
/* New mode: /* New mode:
* - Acro is Acro * - Acro is Acro
* - Manual is not default anymore when the manaul switch is assigned * - Manual is not default anymore when the manual switch is assigned
*/ */
if (_manual_control_setpoint.man_switch == manual_control_setpoint_s::SWITCH_POS_ON) { if (_manual_control_setpoint.man_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags, &_internal_state); res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags, &_internal_state);