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fw pos ctrl: update method documentation

This commit is contained in:
Thomas Stastny 2022-06-08 23:14:06 -05:00 committed by Silvan Fuhrer
parent 594a6d6e80
commit a7e11464c1
1 changed files with 6 additions and 2 deletions
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8
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
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@ -437,7 +437,7 @@ private:
/* automatic control methods */
/**
* @brief Position control for all automatic modes except takeoff and landing
* @brief Automatic position control for waypoints, orbits, and velocity control
*
* @param control_interval Time since last position control call [s]
* @param curr_pos Current 2D local position vector of vehicle [m]
@ -452,6 +452,8 @@ private:
/**
* @brief Controls altitude and airspeed for a fixed-bank loiter.
*
* Used as a failsafe mode after a lateral position estimate failure.
*
* @param control_interval Time since last position control call [s]
*/
void control_auto_fixed_bank_alt_hold(const float control_interval);
@ -459,6 +461,8 @@ private:
/**
* @brief Control airspeed with a fixed descent rate and roll angle.
*
* Used as a failsafe mode after a lateral position estimate failure.
*
* @param control_interval Time since last position control call [s]
*/
void control_auto_descend(const float control_interval);
@ -604,7 +608,7 @@ private:
* @param pitch_max_rad Nominal pitch angle command maximum [rad]
* @param throttle_min Minimum throttle command [0,1]
* @param throttle_max Maximum throttle command [0,1]
* @param throttle_cruise Cruise throttle command [0,1]
* @param throttle_cruise Throttle required for level flight at cruising airspeed [0,1]
* @param climbout_mode True if TECS should engage climbout mode
* @param climbout_pitch_min_rad Minimum pitch angle command in climbout mode [rad]
* @param disable_underspeed_detection True if underspeed detection should be disabled