Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-18 06:38:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_AttitudeControl: update comment to reflect the current logic in is_active_xy()

Browse Source
This commit is contained in:
Tatsuya Yamaguchi 2024-08-22 17:09:04 +09:00 committed by Peter Barker
parent ecd9694e47
commit 62e3c6a6a9
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AC_AttitudeControl/AC_PosControl.cpp
View File

@ -611,7 +611,7 @@ void AC_PosControl::stop_vel_xy_stabilisation()
_pid_vel_xy.reset_I(); _pid_vel_xy.reset_I();
} }
// is_active_xy - returns true if the xy position controller has bee n run in the previous 5 loop times // is_active_xy - returns true if the xy position controller has been run in the previous loop
bool AC_PosControl::is_active_xy() const bool AC_PosControl::is_active_xy() const
{ {
const uint32_t dt_ticks = AP::scheduler().ticks32() - _last_update_xy_ticks; const uint32_t dt_ticks = AP::scheduler().ticks32() - _last_update_xy_ticks;
@ -942,7 +942,7 @@ void AC_PosControl::update_pos_offset_z(float pos_offset_z)
_jerk_max_z_cmsss, _dt, false); _jerk_max_z_cmsss, _dt, false);
} }
// is_active_z - returns true if the z position controller has been run in the previous 5 loop times // is_active_z - returns true if the z position controller has been run in the previous loop
bool AC_PosControl::is_active_z() const bool AC_PosControl::is_active_z() const
{ {
const uint32_t dt_ticks = AP::scheduler().ticks32() - _last_update_z_ticks; const uint32_t dt_ticks = AP::scheduler().ticks32() - _last_update_z_ticks;