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AP_Motors: Tailsitter minor typo and format fixes

This commit is contained in:
Randy Mackay 2018-12-19 13:15:47 +09:00
parent 84bcfce96b
commit 11c29b6af9
1 changed files with 3 additions and 4 deletions
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7
libraries/AP_Motors/AP_MotorsTailsitter.cpp
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@ -56,7 +56,7 @@ AP_MotorsTailsitter::AP_MotorsTailsitter(uint16_t loop_rate, uint16_t speed_hz)
// set update rate to motors - a value in hertz
void AP_MotorsTailsitter::set_update_rate( uint16_t speed_hz )
void AP_MotorsTailsitter::set_update_rate(uint16_t speed_hz)
{
// record requested speed
_speed_hz = speed_hz;
@ -144,7 +144,6 @@ void AP_MotorsTailsitter::output_armed_stabilizing()
yaw_thrust = _yaw_in * compensation_gain;
throttle_thrust = get_throttle() * compensation_gain;
// sanity check throttle is above zero and below current limited throttle
if (throttle_thrust <= 0.0f) {
throttle_thrust = 0.0f;
@ -155,7 +154,7 @@ void AP_MotorsTailsitter::output_armed_stabilizing()
limit.throttle_upper = true;
}
// caculate left and right throttle outputs
// calculate left and right throttle outputs
_thrust_left = throttle_thrust + roll_thrust*0.5;
_thrust_right = throttle_thrust - roll_thrust*0.5;
@ -167,7 +166,7 @@ void AP_MotorsTailsitter::output_armed_stabilizing()
limit.roll_pitch = true;
}
// Add ajustment to reduce average throttle
// Add adjustment to reduce average throttle
_thrust_left = constrain_float(_thrust_left + thr_adj, 0.0f, 1.0f);
_thrust_right = constrain_float(_thrust_right + thr_adj, 0.0f, 1.0f);
_throttle = throttle_thrust + thr_adj;