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AC_PosControl: minor formatting fixes

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Leonard Hall 2021-05-12 13:17:38 +09:00 committed by Andrew Tridgell
parent 772cec5101
commit f24a0988f4
1 changed files with 23 additions and 23 deletions
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14
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -386,7 +386,7 @@ protected:
void check_for_ekf_z_reset();
// references to inertial nav and ahrs libraries
AP_AHRS_View & _ahrs;
AP_AHRS_View& _ahrs;
const AP_InertialNav& _inav;
const AP_Motors& _motors;
AC_AttitudeControl& _attitude_control;
@ -422,13 +422,13 @@ protected:
float _yaw_rate_target; // desired yaw rate in centi-degrees per second calculated by position controller
// position controller internal variables
Vector3f _pos_target; // target location in cm from home
Vector3f _vel_desired; // desired velocity in cm/s
Vector3f _vel_target; // velocity target in cm/s calculated by pos_to_rate step
Vector3f _pos_target; // target location in NEU cm from home
Vector3f _vel_desired; // desired velocity in NEU cm/s
Vector3f _vel_target; // velocity target in NEU cm/s calculated by pos_to_rate step
Vector3f _vel_error; // error between desired and actual acceleration in cm/s
Vector3f _accel_desired; // desired acceleration in cm/s/s (feed forward)
Vector3f _accel_target; // acceleration target in cm/s/s
Vector3f _accel_error; // acceleration error in cm/s/s
Vector3f _accel_desired; // desired acceleration in NEU cm/s/s (feed forward)
Vector3f _accel_target; // acceleration target in NEU cm/s/s
Vector3f _accel_error; // acceleration error in NEU cm/s/s
Vector2f _vehicle_horiz_vel; // velocity to use if _flags.vehicle_horiz_vel_override is set
LowPassFilterFloat _vel_error_filter; // low-pass-filter on z-axis velocity error