From 013a2655e2cc7fb3f003c1ae70650be10bc7e5c2 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 12 Nov 2018 18:31:30 +0000
Subject: [PATCH] mc_pos_control: fix comments and spacing inconsistencies
---
src/modules/mc_pos_control/mc_pos_control_main.cpp | 14 +++++++-------
1 file changed, 7 insertions(+), 7 deletions(-)
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index f9ac3d71a2..fd1bc1add3 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -140,7 +140,7 @@ private:
(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _vel_max_down,
(ParamFloat<px4::params::MPC_LAND_SPEED>) _land_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_AUTO_MODE>) MPC_AUTO_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_z_deriv; /**< velocity derivative in z */
- FlightTasks _flight_tasks; /**< class that generates position controller tracking setpoints*/
- PositionControl _control; /**< class that handles the core PID position controller */
- PositionControlStates _states{}; /**< structure that contains required state information for position control */
+ FlightTasks _flight_tasks; /**< class generating position controller setpoints depending on vehicle task */
+ PositionControl _control; /**< class for core PID 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 */
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;
/**< number of tries before switching to a failsafe flight task */
static constexpr int NUM_FAILURE_TRIES = 10;
@@ -187,12 +187,12 @@ private:
* Parameter update can be forced when argument is true.
* @param force forces parameter update.
*/
- int parameters_update(bool force);
+ int parameters_update(bool force);
/**
* Check for changes in subscribed topics.
*/
- void poll_subscriptions();
+ void poll_subscriptions();
/**
* Check for validity of positon/velocity states.
--
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