Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: comment fixup for GUIDED_OPTIONS accessors

This commit is contained in:
Randy Mackay 2021-09-07 20:44:29 +09:00 committed by Andrew Tridgell
parent 53d1c371ab
commit b6312d21a7
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/mode_guided.cpp
View File

@ -455,13 +455,13 @@ bool ModeGuided::set_attitude_target_provides_thrust() const
return ((copter.g2.guided_options.get() & uint32_t(Options::SetAttitudeTarget_ThrustAsThrust)) != 0); return ((copter.g2.guided_options.get() & uint32_t(Options::SetAttitudeTarget_ThrustAsThrust)) != 0);
} }
// returns true if GUIDED_OPTIONS param suggests SET_ATTITUDE_TARGET's "thrust" field should be interpreted as thrust instead of climb rate // returns true if GUIDED_OPTIONS param specifies position should be controlled (when velocity and/or acceleration control is active)
bool ModeGuided::stabilizing_pos_xy() const bool ModeGuided::stabilizing_pos_xy() const
{ {
return !((copter.g2.guided_options.get() & uint32_t(Options::DoNotStabilizePositionXY)) != 0); return !((copter.g2.guided_options.get() & uint32_t(Options::DoNotStabilizePositionXY)) != 0);
} }
// returns true if GUIDED_OPTIONS param suggests SET_ATTITUDE_TARGET's "thrust" field should be interpreted as thrust instead of climb rate // returns true if GUIDED_OPTIONS param specifies velocity should be controlled (when acceleration control is active)
bool ModeGuided::stabilizing_vel_xy() const bool ModeGuided::stabilizing_vel_xy() const
{ {
return !((copter.g2.guided_options.get() & uint32_t(Options::DoNotStabilizeVelocityXY)) != 0); return !((copter.g2.guided_options.get() & uint32_t(Options::DoNotStabilizeVelocityXY)) != 0);