From 16bd0a2ba052438277b2e434be0558879b676ad1 Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Mon, 28 Aug 2023 19:44:42 +0200 Subject: [PATCH] FixedwingPositionControl: revise navigateLine(), navigateBearing() and naivgatePathTangent() briefs --- src/modules/fw_pos_control/FixedwingPositionControl.hpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.hpp b/src/modules/fw_pos_control/FixedwingPositionControl.hpp index f4f6558b0a..a2fb6cd2c2 100644 --- a/src/modules/fw_pos_control/FixedwingPositionControl.hpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.hpp @@ -812,8 +812,8 @@ private: * line in 2D space (first to second point determines the direction). Determines the * relevant parameters for evaluating the NPFG guidance law, then updates control setpoints. * - * @param[in] point_on_line_1 Line segment start position in local coordinates. (N,E) [m] - * @param[in] point_on_line_2 Line segment end position in local coordinates. (N,E) [m] + * @param[in] point_on_line_1 Arbitrary first position on line in local coordinates. (N,E) [m] + * @param[in] point_on_line_2 Arbitrary second position on line in local coordinates. (N,E) [m] * @param[in] vehicle_pos Vehicle position in local coordinates. (N,E) [m] * @param[in] ground_vel Vehicle ground velocity vector [m/s] * @param[in] wind_vel Wind velocity vector [m/s] @@ -855,6 +855,8 @@ private: * Path following logic. Takes poisiton, path tangent, curvature and * then updates control setpoints to follow a path setpoint. * + * TODO: deprecate this function with a proper API to NPFG. + * * @param[in] vehicle_pos vehicle_pos Vehicle position in local coordinates. (N,E) [m] * @param[in] position_setpoint closest point on a path in local coordinates. (N,E) [m] * @param[in] tangent_setpoint unit tangent vector of the path [m] @@ -870,7 +872,7 @@ private: * Navigate on a fixed bearing. * * This only holds a certain (ground relative) direction and does not perform - * cross track correction. Helpful for semi-autonomous modes. Similar to navigateHeading. + * cross track correction. Helpful for semi-autonomous modes. * * @param[in] vehicle_pos vehicle_pos Vehicle position in local coordinates. (N,E) [m] * @param[in] bearing Bearing angle [rad]