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AC_AttitudeControl: comment changes in response to Paul's review

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Jonathan Challinger 2015-12-02 14:05:13 -08:00 committed by Randy Mackay
parent 0baf86c485
commit a48f201a04
1 changed files with 13 additions and 12 deletions
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25
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -281,27 +281,28 @@ protected:
// Intersampling period in seconds
float _dt;
// This represents a 321-intrinsic rotation from NED frame to the reference
// attitude used in the attitude controller. Formerly _angle_ef_target.
// This represents a 321-intrinsic rotation from NED frame to the reference (setpoint)
// attitude used in the attitude controller, in radians. Formerly _angle_ef_target.
Vector3f _att_target_euler_rad;
// This represents an euler axis-angle rotation vector from the vehicle’s
// estimated attitude to the reference attitude used in the attitude
// controller. Formerly _angle_bf_error.
// estimated attitude to the reference (setpoint) attitude used in the attitude
// controller, in radians in the vehicle body frame of reference. Formerly
// _angle_bf_error.
Vector3f _att_error_rot_vec_rad;
// This represents the angular velocity of the reference attitude used in
// the attitude controller as 321-intrinsic euler angle derivatives.
// Formerly _rate_ef_desired.
// This represents the angular velocity of the reference (setpoint) attitude used in
// the attitude controller as 321-intrinsic euler angle derivatives, in radians per
// second. Formerly _rate_ef_desired.
Vector3f _att_target_euler_deriv_rads;
// This represents the angular velocity of the reference attitude used in
// the attitude controller as an angular velocity vector in the reference
// attitude frame. Formerly _rate_bf_desired.
// This represents the angular velocity of the reference (setpoint) attitude used in
// the attitude controller as an angular velocity vector, in radians per second in
// the reference attitude frame. Formerly _rate_bf_desired.
Vector3f _att_target_ang_vel_rads;
// This represents the reference angular velocity used in the angular
// velocity controller. Formerly _rate_bf_target.
// This represents the reference (setpoint) angular velocity used in the angular
// velocity controller, in radians per second. Formerly _rate_bf_target.
Vector3f _ang_vel_target_rads;