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Motors: minor comment fixes

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Leonard Hall 2015-02-20 22:19:40 +09:00 committed by Randy Mackay
parent 1d0ee68116
commit ec9d7dd99e
2 changed files with 4 additions and 4 deletions
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4
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -303,7 +303,7 @@ void AP_MotorsMatrix::output_armed()
// check everything fits
thr_adj = throttle_radio_out - out_best_thr_pwm;
// calc upper and lower limits of thr_adj
// calculate upper and lower limits of thr_adj
int16_t thr_adj_max = max(out_max_pwm-(out_best_thr_pwm+rpy_high),0);
// if we are increasing the throttle (situation #2 above)..
@ -331,7 +331,7 @@ void AP_MotorsMatrix::output_armed()
}
// do we need to reduce roll, pitch, yaw command
// earlier code does not allow both limit's to be passed simultainiously with abs(_yaw_factor)<1
// earlier code does not allow both limit's to be passed simultaneously with abs(_yaw_factor)<1
if ((rpy_low+out_best_thr_pwm)+thr_adj < out_min_pwm){
rpy_scale = (float)(out_min_pwm-thr_adj-out_best_thr_pwm)/rpy_low;
// we haven't even been able to apply full roll, pitch and minimal yaw without scaling

4
libraries/AP_Motors/AP_Motors_Class.cpp
View File

@ -209,7 +209,7 @@ void AP_Motors::output()
}
};
// setup_throttle_curve - used to linearlise thrust output by motors
// setup_throttle_curve - used to linearise thrust output by motors
// returns true if set up successfully
bool AP_Motors::setup_throttle_curve()
{
@ -237,7 +237,7 @@ bool AP_Motors::setup_throttle_curve()
retval = false;
}
// disable throttle curve if not set-up corrrectly
// disable throttle curve if not set-up correctly
if( !retval ) {
_throttle_curve_enabled = false;
hal.console->println_P(PSTR("AP_Motors: failed to create throttle curve"));