mirror of https://github.com/ArduPilot/ardupilot
Copter: minor comment and formatting fixes
no functional change
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@ -658,7 +658,7 @@ void Copter::set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps,
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// get current yaw target
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int32_t curr_yaw_target = attitude_control->get_att_target_euler_cd().z;
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// get final angle, 1 = Relative, 0 = Absolute
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// calculate final angle as relative to vehicle heading or absolute
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if (!relative_angle) {
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// absolute angle
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yaw_look_at_heading = wrap_360_cd(angle_deg * 100);
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@ -485,7 +485,7 @@ void Copter::guided_vel_control_run()
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uint32_t tnow = millis();
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if (tnow - vel_update_time_ms > GUIDED_POSVEL_TIMEOUT_MS) {
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if (!pos_control->get_desired_velocity().is_zero()) {
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guided_set_desired_velocity_with_accel_and_fence_limits(Vector3f(0.0f,0.0f,0.0f));
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guided_set_desired_velocity_with_accel_and_fence_limits(Vector3f(0.0f, 0.0f, 0.0f));
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}
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if (auto_yaw_mode == AUTO_YAW_RATE) {
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set_auto_yaw_rate(0.0f);
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