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ArduPlane: Fix some typos

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Fixed some typos found in the code.
This commit is contained in:
Mykhailo Kuznietsov 2023-10-11 18:41:54 +11:00 committed by Peter Barker
parent 3a231f8b32
commit b7c040e8bc
20 changed files with 40 additions and 40 deletions
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10
ArduPlane/Attitude.cpp
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@ -32,7 +32,7 @@ float Plane::calc_speed_scaler(void)
speed_scaler = MIN(speed_scaler, new_scaler);
// we also decay the integrator to prevent an integrator from before
// we were at low speed persistint at high speed
// we were at low speed persistent at high speed
rollController.decay_I();
pitchController.decay_I();
yawController.decay_I();
@ -51,7 +51,7 @@ float Plane::calc_speed_scaler(void)
}
if (!plane.ahrs.airspeed_sensor_enabled() &&
(plane.flight_option_enabled(FlightOptions::SURPRESS_TKOFF_SCALING)) &&
(plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF)) { //scaling is surpressed during climb phase of automatic takeoffs with no airspeed sensor being used due to problems with inaccurate airspeed estimates
(plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF)) { //scaling is suppressed during climb phase of automatic takeoffs with no airspeed sensor being used due to problems with inaccurate airspeed estimates
return MIN(speed_scaler, 1.0f) ;
}
return speed_scaler;
@ -486,7 +486,7 @@ int16_t Plane::calc_nav_yaw_coordinated()
// user is doing an AUTOTUNE with yaw rate control
const float rudd_expo = rudder_in_expo(true);
const float yaw_rate = (rudd_expo/SERVO_MAX) * g.acro_yaw_rate;
// add in the corrdinated turn yaw rate to make it easier to fly while tuning the yaw rate controller
// add in the coordinated turn yaw rate to make it easier to fly while tuning the yaw rate controller
const float coordination_yaw_rate = degrees(GRAVITY_MSS * tanf(radians(nav_roll_cd*0.01f))/MAX(aparm.airspeed_min,smoothed_airspeed));
commanded_rudder = yawController.get_rate_out(yaw_rate+coordination_yaw_rate, speed_scaler, false);
using_rate_controller = true;
@ -658,11 +658,11 @@ void Plane::update_load_factor(void)
nav_roll_cd = constrain_int32(nav_roll_cd, -2500, 2500);
roll_limit_cd = MIN(roll_limit_cd, 2500);
} else if (max_load_factor < aerodynamic_load_factor) {
// the demanded nav_roll would take us past the aerodymamic
// the demanded nav_roll would take us past the aerodynamic
// load limit. Limit our roll to a bank angle that will keep
// the load within what the airframe can handle. We always
// allow at least 25 degrees of roll however, to ensure the
// aircraft can be maneuvered with a bad airspeed estimate. At
// aircraft can be manoeuvred with a bad airspeed estimate. At
// 25 degrees the load factor is 1.1 (10%)
int32_t roll_limit = degrees(acosf(sq(1.0f / max_load_factor)))*100;
if (roll_limit < 2500) {

2
ArduPlane/Parameters.cpp
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@ -159,7 +159,7 @@ const AP_Param::Info Plane::var_info[] = {
// @Param: TKOFF_TDRAG_SPD1
// @DisplayName: Takeoff tail dragger speed1
// @Description: This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to genetly hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.
// @Description: This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to gently hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.
// @Units: m/s
// @Range: 0 30
// @Increment: 0.1

4
ArduPlane/Parameters.h
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@ -421,7 +421,7 @@ public:
AP_Int8 flight_mode6;
AP_Int8 initial_mode;
// Navigational maneuvering limits
// Navigational manoeuvring limits
//
AP_Int16 alt_offset;
AP_Int16 acro_roll_rate;
@ -541,7 +541,7 @@ public:
AP_Int8 crow_flap_options;
AP_Int8 crow_flap_aileron_matching;
// Forward throttle battery voltage compenstaion
// Forward throttle battery voltage compensation
AP_Float fwd_thr_batt_voltage_max;
AP_Float fwd_thr_batt_voltage_min;
AP_Int8 fwd_thr_batt_idx;

8
ArduPlane/Plane.h
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@ -246,7 +246,7 @@ private:
#endif
#if HAL_RALLY_ENABLED
// Rally Ponints
// Rally Points
AP_Rally rally;
#endif
@ -312,7 +312,7 @@ private:
// Failsafe
struct {
// Used to track if the value on channel 3 (throtttle) has fallen below the failsafe threshold
// Used to track if the value on channel 3 (throttle) has fallen below the failsafe threshold
// RC receiver should be set up to output a low throttle value when signal is lost
bool rc_failsafe;
@ -618,7 +618,7 @@ private:
// The instantaneous desired pitch angle. Hundredths of a degree
int32_t nav_pitch_cd;
// the aerodymamic load factor. This is calculated from the demanded
// the aerodynamic load factor. This is calculated from the demanded
// roll before the roll is clipped, using 1/sqrt(cos(nav_roll))
float aerodynamic_load_factor = 1.0f;
@ -771,7 +771,7 @@ private:
AP_Mount camera_mount;
#endif
// Arming/Disarming mangement class
// Arming/Disarming management class
AP_Arming_Plane arming;
AP_Param param_loader {var_info};

2
ArduPlane/ReleaseNotes.txt
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@ -284,7 +284,7 @@ of changes. Many thanks to all the people who have contributed!
- Gimbal/Mount2 can be moved to retracted or neutral position
- Gremsy ZIO support
- IMAGE_START_CAPTURE, SET_CAMERA_ZOOM/FOCUS, VIDEO_START/STOP_CAPTURE command support
- Paramters renamed and rescaled
- Parameters renamed and rescaled
i) CAM_TRIGG_TYPE renamed to CAM1_TYPE and options have changed
ii) CAM_DURATION renamed to CAM1_DURATION and scaled in seconds
iii) CAM_FEEDBACK_PIN/POL renamed to CAM1_FEEBAK_PIN/POL

4
ArduPlane/ekf_check.cpp
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@ -112,7 +112,7 @@ bool Plane::ekf_over_threshold()
return false;
}
// Get EKF innovations normalised wrt the innovaton test limits.
// Get EKF innovations normalised wrt the innovation test limits.
// A value above 1.0 means the EKF has rejected that sensor data
float position_variance, vel_variance, height_variance, tas_variance;
Vector3f mag_variance;
@ -157,7 +157,7 @@ void Plane::failsafe_ekf_event()
ekf_check_state.failsafe_on = true;
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED);
// if not in a VTOL mode requring position, then nothing needs to be done
// if not in a VTOL mode requiring position, then nothing needs to be done
#if HAL_QUADPLANE_ENABLED
if (!quadplane.in_vtol_posvel_mode()) {
return;

4
ArduPlane/events.cpp
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@ -140,7 +140,7 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
#if PARACHUTE == ENABLED
parachute_release();
//stop motors to avoide parachute tangling
//stop motors to avoid parachute tangling
plane.arming.disarm(AP_Arming::Method::PARACHUTE_RELEASE, false);
#endif
} else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {
@ -183,7 +183,7 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
#if PARACHUTE == ENABLED
parachute_release();
//stop motors to avoide parachute tangling
//stop motors to avoid parachute tangling
plane.arming.disarm(AP_Arming::Method::PARACHUTE_RELEASE, false);
#endif
} else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {

2
ArduPlane/is_flying.cpp
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@ -261,7 +261,7 @@ void Plane::crash_detection_update(void)
if (g.takeoff_throttle_min_accel > 0 &&
!throttle_suppressed) {
// if you have an acceleration holding back throttle, but you met the
// accel threshold but still not fying, then you either shook/hit the
// accel threshold but still not flying, then you either shook/hit the
// plane or it was a failed launch.
crashed = true;
crash_state.debounce_time_total_ms = CRASH_DETECTION_DELAY_MS;

2
ArduPlane/mode_acro.cpp
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@ -68,7 +68,7 @@ void ModeAcro::stabilize()
int32_t roll_error_cd = -ToDeg(acro_state.locked_roll_err)*100;
plane.nav_roll_cd = ahrs.roll_sensor + roll_error_cd;
// try to reduce the integrated angular error to zero. We set
// 'stabilze' to true, which disables the roll integrator
// 'stabilize' to true, which disables the roll integrator
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.rollController.get_servo_out(roll_error_cd,
speed_scaler,
true, false));

2
ArduPlane/mode_qacro.cpp
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@ -9,7 +9,7 @@ bool ModeQAcro::_enter()
quadplane.transition->force_transition_complete();
attitude_control->relax_attitude_controllers();
// disable yaw rate time contant to mantain old behaviour
// disable yaw rate time constant to maintain old behaviour
quadplane.disable_yaw_rate_time_constant();
IGNORE_RETURN(ahrs.get_quaternion(plane.mode_acro.acro_state.q));

2
ArduPlane/mode_qrtl.cpp
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@ -126,7 +126,7 @@ void ModeQRTL::run()
ftype alt_diff;
if (!stopping_loc.get_alt_distance(plane.next_WP_loc, alt_diff) || is_positive(alt_diff)) {
// climb finshed or cant get alt diff, head home
// climb finished or cant get alt diff, head home
submode = SubMode::RTL;
plane.prev_WP_loc = plane.current_loc;

2
ArduPlane/mode_qstabilize.cpp
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@ -83,7 +83,7 @@ void ModeQStabilize::set_tailsitter_roll_pitch(const float roll_input, const flo
plane.quadplane.transition->set_VTOL_roll_pitch_limit(plane.nav_roll_cd, plane.nav_pitch_cd);
}
// set the desired roll and pitch for normal quadplanes, also limited by forward flight limtis
// set the desired roll and pitch for normal quadplanes, also limited by forward flight limits
void ModeQStabilize::set_limited_roll_pitch(const float roll_input, const float pitch_input)
{
plane.nav_roll_cd = roll_input * MIN(plane.roll_limit_cd, plane.quadplane.aparm.angle_max);

2
ArduPlane/motor_test.cpp
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@ -67,7 +67,7 @@ void QuadPlane::motor_test_output()
// sanity check throttle values
if (pwm >= RC_Channel::RC_MIN_LIMIT_PWM && pwm <= RC_Channel::RC_MAX_LIMIT_PWM) {
// turn on motor to specified pwm vlaue
// turn on motor to specified pwm value
motors->output_test_seq(motor_test.seq, pwm);
} else {
motor_test_stop();

4
ArduPlane/navigation.cpp
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@ -73,7 +73,7 @@ void Plane::loiter_angle_update(void)
loiter.next_sum_lap_cd = loiter.sum_cd + lap_check_interval_cd;
} else if (!loiter.reached_target_alt && labs(loiter.sum_cd) >= loiter.next_sum_lap_cd) {
// check every few laps for scenario where up/downdrafts inhibit you from loitering up/down for too long
// check every few laps for scenario where up/downward inhibit you from loitering up/down for too long
loiter.unable_to_acheive_target_alt = labs(current_loc.alt - loiter.start_lap_alt_cm) < 500;
loiter.start_lap_alt_cm = current_loc.alt;
loiter.next_sum_lap_cd += lap_check_interval_cd;
@ -188,7 +188,7 @@ void Plane::calc_airspeed_errors()
get_throttle_input()) + ((int32_t)aparm.airspeed_min * 100);
}
#if OFFBOARD_GUIDED == ENABLED
} else if (control_mode == &mode_guided && guided_state.target_airspeed_cm > 0.0) { // if offbd guided speed change cmd not set, then this section is skipped
} else if (control_mode == &mode_guided && guided_state.target_airspeed_cm > 0.0) { // if offboard guided speed change cmd not set, then this section is skipped
// offboard airspeed demanded
uint32_t now = AP_HAL::millis();
float delta = 1e-3f * (now - guided_state.target_airspeed_time_ms);

4
ArduPlane/quadplane.cpp
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@ -400,7 +400,7 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
// @Param: ASSIST_ALT
// @DisplayName: Quadplane assistance altitude
// @Description: This is the altitude below which quadplane assistance will be triggered. This acts the same way as Q_ASSIST_ANGLE and Q_ASSIST_SPEED, but triggers if the aircraft drops below the given altitude while the VTOL motors are not running. A value of zero disables this feature. The altutude is calculated as being above ground level. The height above ground is given from a Lidar used if available and RNGFND_LANDING=1. Otherwise it comes from terrain data if TERRAIN_FOLLOW=1 and comes from height above home otherwise.
// @Description: This is the altitude below which quadplane assistance will be triggered. This acts the same way as Q_ASSIST_ANGLE and Q_ASSIST_SPEED, but triggers if the aircraft drops below the given altitude while the VTOL motors are not running. A value of zero disables this feature. The altitude is calculated as being above ground level. The height above ground is given from a Lidar used if available and RNGFND_LANDING=1. Otherwise it comes from terrain data if TERRAIN_FOLLOW=1 and comes from height above home otherwise.
// @Units: m
// @Range: 0 120
// @Increment: 1
@ -524,7 +524,7 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
// @Param: FWD_THR_USE
// @DisplayName: Q mode forward throttle use
// @Description: This parameter determines when the feature that uses forward throttle insread of forward tilt is used. The amount of forward throttle is controlled by the Q_FWD_THR_GAIN parameter. The maximum amount of forward pitch allowed is controlled by the Q_FWD_PIT_LIM parameter. Q_FWD_THR_USE = 0 disables the feature. Q_FWD_THR_USE = 1 enables the feature in all position controlled modes such as QLOITER, QLAND, QRTL and VTOL TAKEOFF. Q_FWD_THR_USE = 2 enables the feature in all Q modes except QAUTOTUNE and QACRO. When enabling the feature, the legacy method of controlling forward throttle use via velocity controller error should be disabled by setting Q_VFWD_GAIN to 0. Do not use this feature with tailsitters.
// @Description: This parameter determines when the feature that uses forward throttle instead of forward tilt is used. The amount of forward throttle is controlled by the Q_FWD_THR_GAIN parameter. The maximum amount of forward pitch allowed is controlled by the Q_FWD_PIT_LIM parameter. Q_FWD_THR_USE = 0 disables the feature. Q_FWD_THR_USE = 1 enables the feature in all position controlled modes such as QLOITER, QLAND, QRTL and VTOL TAKEOFF. Q_FWD_THR_USE = 2 enables the feature in all Q modes except QAUTOTUNE and QACRO. When enabling the feature, the legacy method of controlling forward throttle use via velocity controller error should be disabled by setting Q_VFWD_GAIN to 0. Do not use this feature with tailsitters.
// @Values: 0:Off,1:On in all position controlled Q modes,2:On in all Q modes except QAUTOTUNE and QACRO
// @User: Standard
AP_GROUPINFO("FWD_THR_USE", 37, QuadPlane, q_fwd_thr_use, uint8_t(FwdThrUse::OFF)),

2
ArduPlane/servos.cpp
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@ -924,7 +924,7 @@ void Plane::indicate_waiting_for_rud_neutral_to_takeoff(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, 0);
channel_function_mixer(SRV_Channel::k_rudder, SRV_Channel::k_elevator, SRV_Channel::k_vtail_right, SRV_Channel::k_vtail_left);
if (!SRV_Channels::function_assigned(SRV_Channel::k_rudder) && !SRV_Channels::function_assigned(SRV_Channel::k_vtail_left)) {
// if no rudder indication possible, neutral elevons during wait becuase on takeoff stance they are usually both full up
// if no rudder indication possible, neutral elevons during wait because on takeoff stance they are usually both full up
SRV_Channels::set_output_scaled(SRV_Channel::k_elevon_right, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevon_left, 0);
}

2
ArduPlane/system.cpp
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@ -257,7 +257,7 @@ bool Plane::set_mode(Mode &new_mode, const ModeReason reason)
if (control_mode == &new_mode) {
// don't switch modes if we are already in the correct mode.
// only make happy noise if using a difent method to switch, this stops beeping for repeated change mode requests from GCS
// only make happy noise if using a different method to switch, this stops beeping for repeated change mode requests from GCS
if ((reason != control_mode_reason) && (reason != ModeReason::INITIALISED)) {
AP_Notify::events.user_mode_change = 1;
}

14
ArduPlane/tailsitter.cpp
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@ -27,7 +27,7 @@ const AP_Param::GroupInfo Tailsitter::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable Tailsitter
// @Values: 0:Disable, 1:Enable, 2:Enable Always
// @Description: This enables Tailsitter functionality. A value of 2 forces Qassist active and always stabilize in forward flight with airmode for stabalisation at 0 throttle, for use on vehicles with no control surfaces, vehicle will not arm in forward flight modes, see also Q_OPTIONS "Mtrs_Only_Qassist"
// @Description: This enables Tailsitter functionality. A value of 2 forces Qassist active and always stabilize in forward flight with airmode for stabilisation at 0 throttle, for use on vehicles with no control surfaces, vehicle will not arm in forward flight modes, see also Q_OPTIONS "Mtrs_Only_Qassist"
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO_FLAGS("ENABLE", 1, Tailsitter, enable, 0, AP_PARAM_FLAG_ENABLE),
@ -161,7 +161,7 @@ const AP_Param::GroupInfo Tailsitter::var_info[] = {
// @Param: MIN_VO
// @DisplayName: Tailsitter Disk loading minimum outflow speed
// @Description: Use in conjunction with disk therory gain scaling and Q_TAILSIT_DSKLD to specify minumum airspeed over control surfaces, this will be used to boost throttle, when decending for example, 0 disables
// @Description: Use in conjunction with disk theory gain scaling and Q_TAILSIT_DSKLD to specify minumum airspeed over control surfaces, this will be used to boost throttle, when descending for example, 0 disables
// @Range: 0 15
AP_GROUPINFO("MIN_VO", 22, Tailsitter, disk_loading_min_outflow, 0),
@ -330,7 +330,7 @@ void Tailsitter::output(void)
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, throttle_pwm);
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, throttle_pwm);
// throttle output is not used by AP_Motors so might have diffrent PWM range, set scaled
// throttle output is not used by AP_Motors so might have different PWM range, set scaled
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle * 100.0);
}
}
@ -513,7 +513,7 @@ void Tailsitter::output(void)
bool Tailsitter::transition_fw_complete(void)
{
if (!plane.arming.is_armed_and_safety_off()) {
// instant trainsition when disarmed, no message
// instant transition when disarmed, no message
return true;
}
if (labs(quadplane.ahrs_view->pitch_sensor) > transition_angle_fw*100) {
@ -539,7 +539,7 @@ bool Tailsitter::transition_fw_complete(void)
bool Tailsitter::transition_vtol_complete(void) const
{
if (!plane.arming.is_armed_and_safety_off()) {
// instant trainsition when disarmed, no message
// instant transition when disarmed, no message
return true;
}
// for vectored tailsitters at zero pilot throttle
@ -634,7 +634,7 @@ void Tailsitter::speed_scaling(void)
float spd_scaler = 1.0f;
float disk_loading_min_throttle = 0.0;
// Scaleing with throttle
// Scaling with throttle
float throttle_scaler = throttle_scale_max;
if (is_positive(throttle)) {
throttle_scaler = constrain_float(hover_throttle / throttle, gain_scaling_min, throttle_scale_max);
@ -930,7 +930,7 @@ bool Tailsitter_Transition::allow_stick_mixing() const
if (tailsitter.in_vtol_transition()) {
return false;
}
// Transitioning into fixed wing flight, leveling off
// Transitioning into fixed wing flight, levelling off
if ((transition_state == TRANSITION_DONE) && (fw_limit_start_ms != 0)) {
return false;
}

2
ArduPlane/takeoff.cpp
View File

@ -238,7 +238,7 @@ int16_t Plane::get_takeoff_pitch_min_cd(void)
return auto_state.takeoff_pitch_cd * scalar;
}
// are we entering the region where we want to start leveling off before we reach takeoff alt?
// are we entering the region where we want to start levelling off before we reach takeoff alt?
if (auto_state.sink_rate < -0.1f) {
float sec_to_target = (remaining_height_to_target_cm * 0.01f) / (-auto_state.sink_rate);
if (sec_to_target > 0 &&

6
ArduPlane/tiltrotor.cpp
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@ -39,7 +39,7 @@ const AP_Param::GroupInfo Tiltrotor::var_info[] = {
// @Param: TYPE
// @DisplayName: Tiltrotor type
// @Description: This is the type of tiltrotor when TILT_MASK is non-zero. A continuous tiltrotor can tilt the rotors to any angle on demand. A binary tiltrotor assumes a retract style servo where the servo is either fully forward or fully up. In both cases the servo can't move faster than Q_TILT_RATE. A vectored yaw tiltrotor will use the tilt of the motors to control yaw in hover, Bicopter tiltrottor must use the tailsitter frame class (10)
// @Description: This is the type of tiltrotor when TILT_MASK is non-zero. A continuous tiltrotor can tilt the rotors to any angle on demand. A binary tiltrotor assumes a retract style servo where the servo is either fully forward or fully up. In both cases the servo can't move faster than Q_TILT_RATE. A vectored yaw tiltrotor will use the tilt of the motors to control yaw in hover, Bicopter tiltrotor must use the tailsitter frame class (10)
// @Values: 0:Continuous,1:Binary,2:VectoredYaw,3:Bicopter
AP_GROUPINFO("TYPE", 5, Tiltrotor, type, TILT_TYPE_CONTINUOUS),
@ -115,7 +115,7 @@ void Tiltrotor::setup()
&& (type != TILT_TYPE_BICOPTER));
// check if there are any perminant VTOL motors
// check if there are any permanent VTOL motors
for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; ++i) {
if (motors->is_motor_enabled(i) && ((tilt_mask & (1U<<1)) == 0)) {
// enabled motor not set in tilt mask
@ -193,7 +193,7 @@ void Tiltrotor::slew(float newtilt)
SRV_Channels::set_output_scaled(SRV_Channel::k_motor_tilt, 1000 * current_tilt);
}
// return the current tilt value that represens forward flight
// return the current tilt value that represents forward flight
// tilt wings can sustain forward flight with some amount of wing tilt
float Tiltrotor::get_fully_forward_tilt() const
{