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AC_PosControl: fix up comments

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Jonathan Challinger 2015-04-16 12:50:53 -07:00 committed by Randy Mackay
parent 9a025024b5
commit 8f667b3d1c
1 changed files with 5 additions and 5 deletions
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10
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -36,12 +36,12 @@
#define POSCONTROL_DT_10HZ 0.10f // time difference in seconds for 10hz update rate
#define POSCONTROL_DT_50HZ 0.02f // time difference in seconds for 50hz update rate
#define POSCONTROL_ACTIVE_TIMEOUT_MS 200 // position controller is considered active if it has been called within the past 0.2 seconds
#define POSCONTROL_ACTIVE_TIMEOUT_MS 200 // position controller is considered active if it has been called within the past 0.2 seconds
#define POSCONTROL_VEL_ERROR_CUTOFF_FREQ 4.0f // 4hz low-pass filter on velocity error
#define POSCONTROL_THROTTLE_CUTOFF_FREQ 2.0f // 2hz low-pass filter on accel error
#define POSCONTROL_JERK_LIMIT_CMSSS 1700.0f // 17m/s/s/s jerk limit on horizontal acceleration
#define POSCONTROL_ACCEL_FILTER_HZ 2.0f // 5hz low-pass filter on acceleration
#define POSCONTROL_VEL_ERROR_CUTOFF_FREQ 4.0f // low-pass filter on velocity error (unit: hz)
#define POSCONTROL_THROTTLE_CUTOFF_FREQ 2.0f // low-pass filter on accel error (unit: hz)
#define POSCONTROL_JERK_LIMIT_CMSSS 1700.0f // jerk limit on horizontal acceleration (unit: m/s/s/s)
#define POSCONTROL_ACCEL_FILTER_HZ 2.0f // low-pass filter on acceleration (unit: hz)
#define POSCONTROL_JERK_RATIO 1.0f // Defines the time it takes to reach the requested acceleration
class AC_PosControl