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AC_WPNav: minor comment and formatting changes

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Randy Mackay 2015-04-14 14:48:49 +09:00
parent fd55068620
commit 39213584da
2 changed files with 7 additions and 7 deletions
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10
libraries/AC_WPNav/AC_WPNav.cpp
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@ -78,19 +78,19 @@ const AP_Param::GroupInfo AC_WPNav::var_info[] PROGMEM = {
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("LOIT_JERK", 7, AC_WPNav, _loiter_jerk_max_cmsss, WPNAV_LOITER_JERK_MAX_DEFAULT), AP_GROUPINFO("LOIT_JERK", 7, AC_WPNav, _loiter_jerk_max_cmsss, WPNAV_LOITER_JERK_MAX_DEFAULT),
// @Param: LOIT_MAXA // @Param: LOIT_MAXA
// @DisplayName: Loiter maximum acceleration // @DisplayName: Loiter maximum acceleration
// @Description: Loiter maximum acceleration in cm/s/s // @Description: Loiter maximum acceleration in cm/s/s. Higher values cause the copter to accelerate and stop more quickly.
// @Units: cm/s/s // @Units: cm/s/s
// @Range: 100 981 // @Range: 100 981
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("LOIT_MAXA", 8, AC_WPNav, _loiter_accel_cmss, WPNAV_LOITER_ACCEL), AP_GROUPINFO("LOIT_MAXA", 8, AC_WPNav, _loiter_accel_cmss, WPNAV_LOITER_ACCEL),
// @Param: LOIT_MINA // @Param: LOIT_MINA
// @DisplayName: Loiter minimum acceleration // @DisplayName: Loiter minimum acceleration
// @Description: Loiter minimum acceleration in cm/s/s // @Description: Loiter minimum acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered, but cause a larger jerk when the copter stops.
// @Units: cm/s/s // @Units: cm/s/s
// @Range: 100 981 // @Range: 100 981
// @Increment: 1 // @Increment: 1
@ -239,7 +239,7 @@ void AC_WPNav::calc_loiter_desired_velocity(float nav_dt, float ekfGndSpdLimit)
if( _loiter_speed_cms < WPNAV_LOITER_SPEED_MIN) { if( _loiter_speed_cms < WPNAV_LOITER_SPEED_MIN) {
_loiter_speed_cms = WPNAV_LOITER_SPEED_MIN; _loiter_speed_cms = WPNAV_LOITER_SPEED_MIN;
} }
_pos_control.set_speed_xy(_loiter_speed_cms); _pos_control.set_speed_xy(_loiter_speed_cms);
_pos_control.set_accel_xy(_loiter_accel_cmss); _pos_control.set_accel_xy(_loiter_accel_cmss);

4
libraries/AC_WPNav/AC_WPNav.h
View File

@ -277,8 +277,8 @@ protected:
// parameters // parameters
AP_Float _loiter_speed_cms; // maximum horizontal speed in cm/s while in loiter AP_Float _loiter_speed_cms; // maximum horizontal speed in cm/s while in loiter
AP_Float _loiter_jerk_max_cmsss; // maximum jerk in cm/s/s/s while in loiter AP_Float _loiter_jerk_max_cmsss; // maximum jerk in cm/s/s/s while in loiter
AP_Float _loiter_accel_cmss; // loiter's acceleration in cm/s/s AP_Float _loiter_accel_cmss; // loiter's max acceleration in cm/s/s
AP_Float _loiter_accel_min_cmss; // loiter's acceleration in cm/s/s AP_Float _loiter_accel_min_cmss; // loiter's min acceleration in cm/s/s
AP_Float _wp_speed_cms; // maximum horizontal speed in cm/s during missions AP_Float _wp_speed_cms; // maximum horizontal speed in cm/s during missions
AP_Float _wp_speed_up_cms; // climb speed target in cm/s AP_Float _wp_speed_up_cms; // climb speed target in cm/s
AP_Float _wp_speed_down_cms; // descent speed target in cm/s AP_Float _wp_speed_down_cms; // descent speed target in cm/s