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AC_PrecLand: Fix some typos 

Fixed some typos found in the code.
This commit is contained in:
Mykhailo Kuznietsov 2023-10-11 18:41:49 +11:00 committed by Peter Barker
parent df88281e07
commit b50635d27d
4 changed files with 10 additions and 10 deletions
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4
libraries/AC_PrecLand/AC_PrecLand.cpp
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@ -150,7 +150,7 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
// @Param: TIMEOUT
// @DisplayName: PrecLand retry timeout
// @Description: Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attemp a landing retry depending on PLND_STRICT parameter.
// @Description: Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT parameter.
// @Range: 0 20
// @Units: s
AP_GROUPINFO("TIMEOUT", 13, AC_PrecLand, _retry_timeout_sec, 4),
@ -622,7 +622,7 @@ bool AC_PrecLand::retrieve_los_meas(Vector3f& target_vec_unit_body)
}
// rotate vector based on sensor oriention to get correct body frame vector
// rotate vector based on sensor orientation to get correct body frame vector
if (_orient != ROTATION_PITCH_270) {
// by default, the vector is constructed downwards in body frame
// hence, we do not do any rotation if the orientation is downwards

2
libraries/AC_PrecLand/AC_PrecLand.h
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@ -188,7 +188,7 @@ private:
AP_Float _xy_max_dist_desc; // Vehicle doing prec land will only descent vertically when horizontal error (in m) is below this limit
AP_Int8 _strict; // PrecLand strictness
AP_Int8 _retry_max; // PrecLand Maximum number of retires to a failed landing
AP_Float _retry_timeout_sec; // Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attemp a landing retry depending on PLND_STRICT param.
AP_Float _retry_timeout_sec; // Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT param.
AP_Int8 _retry_behave; // Action to do when trying a landing retry
AP_Float _sensor_min_alt; // PrecLand minimum height required for detecting target
AP_Float _sensor_max_alt; // PrecLand maximum height the sensor can detect target

4
libraries/AC_PrecLand/AC_PrecLand_StateMachine.cpp
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@ -7,7 +7,7 @@
#include <AP_AHRS/AP_AHRS.h>
#include <GCS_MAVLink/GCS.h>
static const float MAX_POS_ERROR_M = 0.75f; // Maximum possition error for retry locations
static const float MAX_POS_ERROR_M = 0.75f; // Maximum position error for retry locations
static const uint32_t FAILSAFE_INIT_TIMEOUT_MS = 7000; // Timeout in ms before failsafe measures are started. During this period vehicle is completely stopped to give user the time to take over
static const float RETRY_OFFSET_ALT_M = 1.5f; // This gets added to the altitude of the retry location
@ -24,7 +24,7 @@ void AC_PrecLand_StateMachine::init()
// precland is not enabled, prec land state machine methods should not be called!
return;
}
// init is only called ONCE per mode change. So in a particuar mode we can retry only a finite times.
// init is only called ONCE per mode change. So in a particular mode we can retry only a finite times.
// The counter will be reset if the statemachine is called from a different mode
_retry_count = 0;
// reset every other statemachine