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Plane: tidy 2 comments

This commit is contained in:
Andrew Tridgell 2024-01-19 15:09:29 +11:00
parent f51fa31aae
commit a4302e5fb8
2 changed files with 2 additions and 2 deletions
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2
ArduPlane/quadplane.cpp
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@ -1627,7 +1627,7 @@ void SLT_Transition::update()
gcs().send_text(MAV_SEVERITY_CRITICAL, "Transition failed, exceeded time limit"); gcs().send_text(MAV_SEVERITY_CRITICAL, "Transition failed, exceeded time limit");
quadplane.transition_failure.warned = true; quadplane.transition_failure.warned = true;
} }
// if option is set and ground speed> 1/2 arspd_fbw_min for non-tiltrotors, then complete transition, otherwise QLAND. // if option is set and ground speed> 1/2 AIRSPEED_MIN for non-tiltrotors, then complete transition, otherwise QLAND.
// tiltrotors will immediately transition // tiltrotors will immediately transition
const bool tiltrotor_with_ground_speed = quadplane.tiltrotor.enabled() && (plane.ahrs.groundspeed() > plane.aparm.airspeed_min * 0.5); const bool tiltrotor_with_ground_speed = quadplane.tiltrotor.enabled() && (plane.ahrs.groundspeed() > plane.aparm.airspeed_min * 0.5);
if (quadplane.option_is_set(QuadPlane::OPTION::TRANS_FAIL_TO_FW) && tiltrotor_with_ground_speed) { if (quadplane.option_is_set(QuadPlane::OPTION::TRANS_FAIL_TO_FW) && tiltrotor_with_ground_speed) {

2
ArduPlane/takeoff.cpp
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@ -158,7 +158,7 @@ void Plane::takeoff_calc_roll(void)
takeoff_roll_limit_cd = g.level_roll_limit * 100; takeoff_roll_limit_cd = g.level_roll_limit * 100;
} else { } else {
// lim1 - below altitude TKOFF_LVL_ALT, restrict roll to LEVEL_ROLL_LIMIT // lim1 - below altitude TKOFF_LVL_ALT, restrict roll to LEVEL_ROLL_LIMIT
// lim2 - above altitude (TKOFF_LVL_ALT * 3) allow full flight envelope of LIM_ROLL_CD // lim2 - above altitude (TKOFF_LVL_ALT * 3) allow full flight envelope of ROLL_LIMIT_DEG
// In between lim1 and lim2 use a scaled roll limit. // In between lim1 and lim2 use a scaled roll limit.
// The *3 scheme should scale reasonably with both small and large aircraft // The *3 scheme should scale reasonably with both small and large aircraft
const float lim1 = MAX(mode_takeoff.level_alt, 0); const float lim1 = MAX(mode_takeoff.level_alt, 0);