From 9304fa0f52408089829a9dda901380614354d668 Mon Sep 17 00:00:00 2001
From: GH6947 <GH6947@surf.com>
Date: Tue, 24 May 2022 16:24:05 +0300
Subject: [PATCH] Sub: roll pitch comments

In ArduSub modes Auto & Guided, direct (not translated to forward/lateral) Roll and Pitch values come from the RC channels, not from wp controller. The existing comments are leftovers from ArduCopter
---
 ArduSub/control_auto.cpp   |  6 +++---
 ArduSub/control_guided.cpp | 12 ++++++------
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/ArduSub/control_auto.cpp b/ArduSub/control_auto.cpp
index 4ee719f7c6..4860cbc15c 100644
--- a/ArduSub/control_auto.cpp
+++ b/ArduSub/control_auto.cpp
@@ -162,10 +162,10 @@ void Sub::auto_wp_run()
 
     // call attitude controller
     if (auto_yaw_mode == AUTO_YAW_HOLD) {
-        // roll & pitch from waypoint controller, yaw rate from pilot
+        // roll & pitch & yaw rate from pilot
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
     } else {
-        // roll, pitch from waypoint controller, yaw heading from auto_heading()
+        // roll, pitch from pilot, yaw heading from auto_heading()
         attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, get_auto_heading(), true);
     }
 }
@@ -339,7 +339,7 @@ void Sub::auto_loiter_run()
     float target_roll, target_pitch;
     get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max);
 
-    // roll & pitch from waypoint controller, yaw rate from pilot
+    // roll & pitch & yaw rate from pilot
     attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
 }
 
diff --git a/ArduSub/control_guided.cpp b/ArduSub/control_guided.cpp
index bcab8732d9..0a444d9a08 100644
--- a/ArduSub/control_guided.cpp
+++ b/ArduSub/control_guided.cpp
@@ -315,10 +315,10 @@ void Sub::guided_pos_control_run()
 
     // call attitude controller
     if (auto_yaw_mode == AUTO_YAW_HOLD) {
-        // roll & pitch from waypoint controller, yaw rate from pilot
+        // roll & pitch & yaw rate from pilot
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_yaw_rate);
     } else {
-        // roll, pitch from waypoint controller, yaw heading from auto_heading()
+        // roll, pitch from pilot, yaw heading from auto_heading()
         attitude_control.input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), get_auto_heading(), true);
     }
 }
@@ -371,10 +371,10 @@ void Sub::guided_vel_control_run()
 
     // call attitude controller
     if (auto_yaw_mode == AUTO_YAW_HOLD) {
-        // roll & pitch from waypoint controller, yaw rate from pilot
+        // roll & pitch & yaw rate from pilot
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_yaw_rate);
     } else {
-        // roll, pitch from waypoint controller, yaw heading from auto_heading()
+        // roll, pitch from pilot, yaw heading from auto_heading()
         attitude_control.input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), get_auto_heading(), true);
     }
 }
@@ -437,10 +437,10 @@ void Sub::guided_posvel_control_run()
 
     // call attitude controller
     if (auto_yaw_mode == AUTO_YAW_HOLD) {
-        // roll & pitch from waypoint controller, yaw rate from pilot
+        // roll & pitch & yaw rate from pilot
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_yaw_rate);
     } else {
-        // roll, pitch from waypoint controller, yaw heading from auto_heading()
+        // roll, pitch from pilot, yaw heading from auto_heading()
         attitude_control.input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), get_auto_heading(), true);
     }
 }