From 27dc60a41953015650044d04c989e8b2cd9725a6 Mon Sep 17 00:00:00 2001
From: baumanta <baumanta@student.ethz.ch>
Date: Mon, 5 Nov 2018 08:42:30 +0100
Subject: [PATCH] Improve comments
---
src/lib/CollisionAvoidance/CollisionAvoidance.cpp | 2 +-
src/modules/mc_pos_control/mc_pos_control_params.c | 6 +++---
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/lib/CollisionAvoidance/CollisionAvoidance.cpp b/src/lib/CollisionAvoidance/CollisionAvoidance.cpp
index 823719c0c3..7122865792 100644
--- a/src/lib/CollisionAvoidance/CollisionAvoidance.cpp
+++ b/src/lib/CollisionAvoidance/CollisionAvoidance.cpp
@@ -165,7 +165,7 @@ void CollisionAvoidance::modifySetpoint(Vector2f &original_setpoint, const float
|| new_setpoint(1) > 1.05f * original_setpoint(1));
if (currently_interfering && (currently_interfering != _interfering)) {
- mavlink_log_critical(&_mavlink_log_pub, "Collision Avoidance starts interfering");
+ mavlink_log_critical(&_mavlink_log_pub, "Collision Warning");
}
_interfering = currently_interfering;
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index b09af23e3b..6d9e8ad1ac 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -739,16 +739,16 @@ PARAM_DEFINE_INT32(MPC_OBS_AVOID, 0);
PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);
/**
- * Flag to enable the use of a range sensor for collision avoidance.
+ * Flag to enable the use of a MAVLink range sensor for collision avoidance.
*
* @boolean
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_COL_AVOID, 0);
/**
- * Minimum Obstacle Distance at which the vehicle should not get closer
+ * Minimum distance the vehicle should keep to all obstacles
*
- * Only relevant if in Position control and the range sensor is active
+ * Only used in Position mode when collision avoidance is active (see MPC_COL_AVOID).
*
* @min 0
* @max 15
--
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