From e585c252a2a124d321a0669e26928c0370a30256 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 7 Sep 2021 20:44:29 +0900 Subject: [PATCH] Copter: comment fixup for GUIDED_OPTIONS accessors --- ArduCopter/mode_guided.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp index 3da5852da3..d0d99287dc 100644 --- a/ArduCopter/mode_guided.cpp +++ b/ArduCopter/mode_guided.cpp @@ -455,13 +455,13 @@ bool ModeGuided::set_attitude_target_provides_thrust() const 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 { 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 { return !((copter.g2.guided_options.get() & uint32_t(Options::DoNotStabilizeVelocityXY)) != 0);