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Copter: add comments to smartRTL

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This commit is contained in:
Randy Mackay 2021-03-11 21:07:50 +09:00
parent 96267553cf
commit 94d4e5912b
1 changed files with 3 additions and 2 deletions
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5
ArduCopter/mode_smart_rtl.cpp
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@ -103,7 +103,7 @@ void ModeSmartRTL::path_follow_run()
smart_rtl_state = SmartRTL_PreLandPosition; smart_rtl_state = SmartRTL_PreLandPosition;
wp_nav->set_wp_destination_NED(dest_NED); wp_nav->set_wp_destination_NED(dest_NED);
} else { } else {
// peek at the next point // peek at the next point. this can fail if the IO task currently has the path semaphore
Vector3f next_dest_NED; Vector3f next_dest_NED;
if (g2.smart_rtl.peek_point(next_dest_NED)) { if (g2.smart_rtl.peek_point(next_dest_NED)) {
wp_nav->set_wp_destination_NED(dest_NED); wp_nav->set_wp_destination_NED(dest_NED);
@ -113,7 +113,8 @@ void ModeSmartRTL::path_follow_run()
} }
wp_nav->set_wp_destination_next_NED(next_dest_NED); wp_nav->set_wp_destination_next_NED(next_dest_NED);
} else { } else {
// this should never happen but send next point anyway // this can only happen if peek failed to take the semaphore
// send next point anyway which will cause the vehicle to slow at the next point
wp_nav->set_wp_destination_NED(dest_NED); wp_nav->set_wp_destination_NED(dest_NED);
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
} }