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AC_AttControl: correct method comments

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Leonard Hall 2016-08-06 11:54:19 +09:00 committed by Randy Mackay
parent 3349e24492
commit 50b694444b
1 changed files with 6 additions and 6 deletions
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12
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -157,22 +157,22 @@ public:
// Set z-axis angular velocity in centidegrees/s
void rate_bf_yaw_target(float rate_cds) { _rate_target_ang_vel.z = radians(rate_cds*0.01f); }
// Return roll rate step size in centidegrees/s that results in maximum output after 4 time steps
// Return roll rate step size in radians/s that results in maximum output after 4 time steps
float max_rate_step_bf_roll();
// Return pitch rate step size in centidegrees/s that results in maximum output after 4 time steps
// Return pitch rate step size in radians/s that results in maximum output after 4 time steps
float max_rate_step_bf_pitch();
// Return yaw rate step size in centidegrees/s that results in maximum output after 4 time steps
// Return yaw rate step size in radians/s that results in maximum output after 4 time steps
float max_rate_step_bf_yaw();
// Return roll step size in centidegrees that results in maximum output after 4 time steps
// Return roll step size in radians that results in maximum output after 4 time steps
float max_angle_step_bf_roll() { return max_rate_step_bf_roll()/_p_angle_roll.kP(); }
// Return pitch step size in centidegrees that results in maximum output after 4 time steps
// Return pitch step size in radians that results in maximum output after 4 time steps
float max_angle_step_bf_pitch() { return max_rate_step_bf_pitch()/_p_angle_pitch.kP(); }
// Return yaw step size in centidegrees that results in maximum output after 4 time steps
// Return yaw step size in radians that results in maximum output after 4 time steps
float max_angle_step_bf_yaw() { return max_rate_step_bf_yaw()/_p_angle_yaw.kP(); }
// Return angular velocity in radians used in the angular velocity controller