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Copter: clarify takeoff comments

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Peter Barker 2018-06-26 13:31:40 +10:00 committed by Peter Barker
parent 22f7f29045
commit 87f8e523de
1 changed files with 10 additions and 2 deletions
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12
ArduCopter/mode.h
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@ -133,7 +133,16 @@ protected:
float &G_Dt; float &G_Dt;
ap_t ≈ ap_t ≈
// auto-takeoff support; takeoff state is shared across all mode instances // note that we support two entirely different automatic takeoffs:
// "user-takeoff", which is available in modes such as ALT_HOLD
// (see has_user_takeoff method). "user-takeoff" is a simple
// reach-altitude-based-on-pilot-input-or-parameter routine.
// "auto-takeoff" is used by both Guided and Auto, and is
// basically waypoint navigation with pilot yaw permitted.
// user-takeoff support; takeoff state is shared across all mode instances
class _TakeOff { class _TakeOff {
public: public:
void start(float alt_cm); void start(float alt_cm);
@ -154,7 +163,6 @@ protected:
static void takeoff_stop() { takeoff.stop(); } static void takeoff_stop() { takeoff.stop(); }
// takeoff support
virtual bool do_user_takeoff_start(float takeoff_alt_cm); virtual bool do_user_takeoff_start(float takeoff_alt_cm);
// method shared by both Guided and Auto for takeoff. This is // method shared by both Guided and Auto for takeoff. This is