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AC_AttitudeControl: Fix some typos 

Fixed some typos found in the code.
This commit is contained in:
Mykhailo Kuznietsov 2023-10-11 18:41:49 +11:00 committed by Peter Barker
parent 3ba12d16db
commit 6c4d988631
6 changed files with 9 additions and 9 deletions
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4
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -45,7 +45,7 @@ const AP_Param::GroupInfo AC_AttitudeControl::var_info[] = {
// @Param: RATE_FF_ENAB
// @DisplayName: Rate Feedforward Enable
// @Description: Controls whether body-frame rate feedfoward is enabled or disabled
// @Description: Controls whether body-frame rate feedforward is enabled or disabled
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
AP_GROUPINFO("RATE_FF_ENAB", 5, AC_AttitudeControl, _rate_bf_ff_enabled, AC_ATTITUDE_CONTROL_RATE_BF_FF_DEFAULT),
@ -785,7 +785,7 @@ void AC_AttitudeControl::thrust_vector_rotation_angles(const Quaternion& attitud
// The direction of thrust is [0,0,-1] is any body-fixed frame, inc. body frame and target frame.
const Vector3f thrust_vector_up{0.0f, 0.0f, -1.0f};
// attitude_target and attitute_body are passive rotations from target / body frames to the NED frame
// attitude_target and attitude_body are passive rotations from target / body frames to the NED frame
// Rotating [0,0,-1] by attitude_target expresses (gets a view of) the target thrust vector in the inertial frame
Vector3f att_target_thrust_vec = attitude_target * thrust_vector_up; // target thrust vector

2
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.cpp
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@ -7,7 +7,7 @@
#include <AP_Math/AP_Math.h>
// 6DoF control is extracted from the existing copter code by treating desired angles as thrust angles rather than vehicle attitude.
// Vehicle attitude is then set separately, typically the vehicle would matain 0 roll and pitch.
// Vehicle attitude is then set separately, typically the vehicle would maintain 0 roll and pitch.
// rate commands result in the vehicle behaving as a ordinary copter.
// run lowest level body-frame rate controller and send outputs to the motors

4
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h
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@ -20,10 +20,10 @@ public:
// Command a Quaternion attitude with feedforward and smoothing
// attitude_desired_quat: is updated on each time_step (_dt) by the integral of the angular velocity
// not used anywhere in current code, panic so this implementaiton is not overlooked
// not used anywhere in current code, panic so this implementation is not overlooked
void input_quaternion(Quaternion& attitude_desired_quat, Vector3f ang_vel_target) override;
/*
override input functions to attitude controller and convert desired angles into thrust angles and substitute for osset angles
override input functions to attitude controller and convert desired angles into thrust angles and substitute for offset angles
*/
// Command an euler roll and pitch angle and an euler yaw rate with angular velocity feedforward and smoothing

2
libraries/AC_AttitudeControl/AC_CommandModel.cpp
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@ -1,7 +1,7 @@
#include "AC_CommandModel.h"
#include <AP_HAL/AP_HAL.h>
// The Commmand Model class holds parameters that shape the pilot desired angular rate input. This class can
// The Command Model class holds parameters that shape the pilot desired angular rate input. This class can
// be expanded to hold the methods that shape the pilot desired input.
extern const AP_HAL::HAL& hal;

4
libraries/AC_AttitudeControl/AC_WeatherVane.cpp
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@ -23,7 +23,7 @@ const AP_Param::GroupInfo AC_WeatherVane::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable
// @Description: Enable weather vaning. When active, the aircraft will automatically yaw into wind when in a VTOL position controlled mode. Pilot yaw commands overide the weathervaning action.
// @Description: Enable weather vaning. When active, the aircraft will automatically yaw into wind when in a VTOL position controlled mode. Pilot yaw commands override the weathervaning action.
// @Values: -1:Only use during takeoffs or landing see weathervane takeoff and land override parameters,0:Disabled,1:Nose into wind,2:Nose or tail into wind,3:Side into wind,4:tail into wind
// @User: Standard
AP_GROUPINFO_FLAGS("ENABLE", 1, AC_WeatherVane, _direction, WVANE_PARAM_ENABLED, AP_PARAM_FLAG_ENABLE),
@ -139,7 +139,7 @@ bool AC_WeatherVane::get_yaw_out(float &yaw_output, const int16_t pilot_yaw, con
if (is_positive(_max_vel_xy) || is_positive(_max_vel_z)) {
Vector3f vel_ned;
if (!AP::ahrs().get_velocity_NED(vel_ned) || // need speed estimate
(is_positive(_max_vel_xy) && (vel_ned.xy().length_squared() > (_max_vel_xy*_max_vel_xy))) || // check xy speeed
(is_positive(_max_vel_xy) && (vel_ned.xy().length_squared() > (_max_vel_xy*_max_vel_xy))) || // check xy speed
(is_positive(_max_vel_z) && (fabsf(vel_ned.z) > _max_vel_z))) { // check z speed
reset();
return false;

2
libraries/AC_AttitudeControl/AC_WeatherVane.h
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@ -36,7 +36,7 @@ class AC_WeatherVane {
PITCH_ENABLE = (1<<0),
};
// Paramaters
// Parameters
AP_Int8 _direction;
AP_Float _gain;
AP_Float _min_dz_ang_deg;