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Plane: minor comment changes

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This commit is contained in:
Randy Mackay 2019-10-17 15:03:48 +09:00
parent 8724e2f160
commit edb5f05339
2 changed files with 3 additions and 3 deletions
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2
ArduPlane/quadplane.cpp
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@ -707,7 +707,7 @@ bool QuadPlane::setup(void)
pos_control->set_dt(loop_delta_t);
attitude_control->parameter_sanity_check();
// setup the trim of any motors used by AP_Motors so px4io
// setup the trim of any motors used by AP_Motors so I/O board
// failsafe will disable motors
for (uint8_t i=0; i<8; i++) {
SRV_Channel::Aux_servo_function_t func = SRV_Channels::get_motor_function(i);

4
ArduPlane/radio.cpp
View File

@ -45,7 +45,7 @@ void Plane::set_control_channels(void)
}
if (!quadplane.enable) {
// setup correct scaling for ESCs like the UAVCAN PX4ESC which
// setup correct scaling for ESCs like the UAVCAN ESCs which
// take a proportion of speed. For quadplanes we use AP_Motors
// scaling
g2.servo_channels.set_esc_scaling_for(SRV_Channel::k_throttle);
@ -84,7 +84,7 @@ void Plane::init_rc_out_main()
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_rudder, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
// setup PX4 to output the min throttle when safety off if arming
// setup flight controller to output the min throttle when safety off if arming
// is setup for min on disarm
if (arming.arming_required() == AP_Arming::Required::YES_MIN_PWM) {
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, have_reverse_thrust()?SRV_Channel::SRV_CHANNEL_LIMIT_TRIM:SRV_Channel::SRV_CHANNEL_LIMIT_MIN);