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Copter: comment fixup for GUIDED_OPTIONS accessors

This commit is contained in:
Randy Mackay 2021-09-07 20:44:29 +09:00
parent b0b3f1920e
commit e585c252a2
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/mode_guided.cpp
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@ -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);