From a4302e5fb84d94fe5999714663bfd7001e0da6e9 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 19 Jan 2024 15:09:29 +1100 Subject: [PATCH] Plane: tidy 2 comments --- ArduPlane/quadplane.cpp | 2 +- ArduPlane/takeoff.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index 378b00beb5..70ccd2d10d 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -1627,7 +1627,7 @@ void SLT_Transition::update() gcs().send_text(MAV_SEVERITY_CRITICAL, "Transition failed, exceeded time limit"); quadplane.transition_failure.warned = true; } - // if option is set and ground speed> 1/2 arspd_fbw_min for non-tiltrotors, then complete transition, otherwise QLAND. + // if option is set and ground speed> 1/2 AIRSPEED_MIN for non-tiltrotors, then complete transition, otherwise QLAND. // tiltrotors will immediately transition const bool tiltrotor_with_ground_speed = quadplane.tiltrotor.enabled() && (plane.ahrs.groundspeed() > plane.aparm.airspeed_min * 0.5); if (quadplane.option_is_set(QuadPlane::OPTION::TRANS_FAIL_TO_FW) && tiltrotor_with_ground_speed) { diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp index c41e7478c1..5d8a428d34 100644 --- a/ArduPlane/takeoff.cpp +++ b/ArduPlane/takeoff.cpp @@ -158,7 +158,7 @@ void Plane::takeoff_calc_roll(void) takeoff_roll_limit_cd = g.level_roll_limit * 100; } else { // lim1 - below altitude TKOFF_LVL_ALT, restrict roll to LEVEL_ROLL_LIMIT - // lim2 - above altitude (TKOFF_LVL_ALT * 3) allow full flight envelope of LIM_ROLL_CD + // lim2 - above altitude (TKOFF_LVL_ALT * 3) allow full flight envelope of ROLL_LIMIT_DEG // In between lim1 and lim2 use a scaled roll limit. // The *3 scheme should scale reasonably with both small and large aircraft const float lim1 = MAX(mode_takeoff.level_alt, 0);