From 02eda4dcabb957eec430e94616a3048bef9884e2 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 8 Dec 2015 15:48:17 +0900 Subject: [PATCH] AC_AttControl: remove comment, fix formatting --- libraries/AC_AttitudeControl/AC_AttitudeControl.cpp | 2 -- libraries/AC_AttitudeControl/AC_AttitudeControl.h | 4 +--- 2 files changed, 1 insertion(+), 5 deletions(-) diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp index 8db0ea9fb2..0bcbf93fc1 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp @@ -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()); } diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h index debbdcd298..9dfb3ac3c1 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h @@ -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;