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Copter: minor comment and formatting fixes

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no functional change
This commit is contained in:
Randy Mackay 2017-07-12 11:37:03 +09:00
parent ed65d55f5e
commit c1433e0220
2 changed files with 2 additions and 2 deletions
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2
ArduCopter/control_auto.cpp
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@ -658,7 +658,7 @@ void Copter::set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps,
// get current yaw target // get current yaw target
int32_t curr_yaw_target = attitude_control->get_att_target_euler_cd().z; int32_t curr_yaw_target = attitude_control->get_att_target_euler_cd().z;
// get final angle, 1 = Relative, 0 = Absolute // calculate final angle as relative to vehicle heading or absolute
if (!relative_angle) { if (!relative_angle) {
// absolute angle // absolute angle
yaw_look_at_heading = wrap_360_cd(angle_deg * 100); yaw_look_at_heading = wrap_360_cd(angle_deg * 100);

2
ArduCopter/control_guided.cpp
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@ -485,7 +485,7 @@ void Copter::guided_vel_control_run()
uint32_t tnow = millis(); uint32_t tnow = millis();
if (tnow - vel_update_time_ms > GUIDED_POSVEL_TIMEOUT_MS) { if (tnow - vel_update_time_ms > GUIDED_POSVEL_TIMEOUT_MS) {
if (!pos_control->get_desired_velocity().is_zero()) { if (!pos_control->get_desired_velocity().is_zero()) {
guided_set_desired_velocity_with_accel_and_fence_limits(Vector3f(0.0f,0.0f,0.0f)); guided_set_desired_velocity_with_accel_and_fence_limits(Vector3f(0.0f, 0.0f, 0.0f));
} }
if (auto_yaw_mode == AUTO_YAW_RATE) { if (auto_yaw_mode == AUTO_YAW_RATE) {
set_auto_yaw_rate(0.0f); set_auto_yaw_rate(0.0f);