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AC_AttControl: remove comment, fix formatting

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This commit is contained in:
Randy Mackay 2015-12-08 15:48:17 +09:00
parent 3c4d226b64
commit 02eda4dcab
2 changed files with 1 additions and 5 deletions
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2
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -9,7 +9,6 @@ const AP_Param::GroupInfo AC_AttitudeControl::var_info[] = {
// 0, 1 were RATE_RP_MAX, RATE_Y_MAX
// BUG: SLEW_YAW's behavior does not match its parameter documentation
// @Param: SLEW_YAW
// @DisplayName: Yaw target slew rate
// @Description: Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes
@ -258,7 +257,6 @@ void AC_AttitudeControl::input_euler_angle_roll_pitch_yaw(float euler_roll_angle
att_error_euler_rad.z = wrap_PI(_att_target_euler_rad.z - _ahrs.yaw);
// Constrain the yaw angle error
// BUG: SLEW_YAW's behavior does not match its parameter documentation
if (slew_yaw) {
att_error_euler_rad.z = constrain_float(att_error_euler_rad.z,-get_slew_yaw_rads(),get_slew_yaw_rads());
}

4
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -22,7 +22,6 @@
#define AC_ATTITUDE_ACCEL_RP_CONTROLLER_MAX_RADSS radians(720.0f) // maximum body-frame acceleration limit for the stability controller (for roll and pitch axis)
#define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MIN_RADSS radians(90.0f) // minimum body-frame acceleration limit for the stability controller (for yaw axis)
#define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MAX_RADSS radians(360.0f) // maximum body-frame acceleration limit for the stability controller (for yaw axis)
// BUG: SLEW_YAW's behavior does not match its parameter documentation
#define AC_ATTITUDE_CONTROL_SLEW_YAW_DEFAULT_CDS 1000 // constraint on yaw angle error in degrees. This should lead to maximum turn rate of 10deg/sed * Stab Rate P so by default will be 45deg/sec.
#define AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT_CDSS 110000.0f // default maximum acceleration for roll/pitch axis in centidegrees/sec/sec
#define AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT_CDSS 27000.0f // default maximum acceleration for yaw axis in centidegrees/sec/sec
@ -263,7 +262,6 @@ protected:
float get_tilt_limit_rad() { return radians(_aparm.angle_max*0.01f); }
// Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes
// BUG: SLEW_YAW's behavior does not match its parameter documentation
AP_Float _slew_yaw;
// Maximum rotation acceleration for earth-frame roll axis
@ -311,7 +309,7 @@ protected:
int16_t _angle_boost;
// Specifies whether the attitude controller should use the acceleration limit
bool _att_ctrl_use_accel_limit;
bool _att_ctrl_use_accel_limit;
// Filtered throttle input - used to limit lean angle when throttle is saturated
LowPassFilterFloat _throttle_in_filt;