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Copter: Change the sub-mode description

This commit is contained in:
muramura 2024-04-29 02:30:30 +09:00 committed by Andrew Tridgell
parent 3201622d38
commit 5107cb495a
1 changed files with 7 additions and 7 deletions
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14
ArduCopter/mode_guided.cpp
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@ -243,10 +243,10 @@ void ModeGuided::pos_control_start()
pva_control_start();
}
// initialise guided mode's velocity controller
// initialise guided mode's acceleration controller
void ModeGuided::accel_control_start()
{
// set guided_mode to velocity controller
// set guided_mode to acceleration controller
guided_mode = SubMode::Accel;
// initialise position controller
@ -256,7 +256,7 @@ void ModeGuided::accel_control_start()
// initialise guided mode's velocity and acceleration controller
void ModeGuided::velaccel_control_start()
{
// set guided_mode to velocity controller
// set guided_mode to velocity and acceleration controller
guided_mode = SubMode::VelAccel;
// initialise position controller
@ -266,7 +266,7 @@ void ModeGuided::velaccel_control_start()
// initialise guided mode's position, velocity and acceleration controller
void ModeGuided::posvelaccel_control_start()
{
// set guided_mode to velocity controller
// set guided_mode to position, velocity and acceleration controller
guided_mode = SubMode::PosVelAccel;
// initialise position controller
@ -515,7 +515,7 @@ bool ModeGuided::set_destination(const Location& dest_loc, bool use_yaw, float y
// set_velaccel - sets guided mode's target velocity and acceleration
void ModeGuided::set_accel(const Vector3f& acceleration, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw, bool log_request)
{
// check we are in velocity control mode
// check we are in acceleration control mode
if (guided_mode != SubMode::Accel) {
accel_control_start();
}
@ -547,7 +547,7 @@ void ModeGuided::set_velocity(const Vector3f& velocity, bool use_yaw, float yaw_
// set_velaccel - sets guided mode's target velocity and acceleration
void ModeGuided::set_velaccel(const Vector3f& velocity, const Vector3f& acceleration, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw, bool log_request)
{
// check we are in velocity control mode
// check we are in velocity and acceleration control mode
if (guided_mode != SubMode::VelAccel) {
velaccel_control_start();
}
@ -589,7 +589,7 @@ bool ModeGuided::set_destination_posvelaccel(const Vector3f& destination, const
}
#endif
// check we are in velocity control mode
// check we are in position, velocity and acceleration control mode
if (guided_mode != SubMode::PosVelAccel) {
posvelaccel_control_start();
}