Copter: tradheli-comments added to new Heli Acro code

ArduCopter/mode_acro_heli.cpp

@@ -70,9 +70,12 @@ void Copter::ModeAcro_Heli::run()
     if (!motors->has_flybar()){
         // convert the input to the desired body frame rate
         get_pilot_desired_angle_rates(channel_roll->get_control_in(), channel_pitch->get_control_in(), channel_yaw->get_control_in(), target_roll, target_pitch, target_yaw);
+        // only mimic flybar response when trainer mode is disabled
         if (g.acro_trainer == ACRO_TRAINER_DISABLED) {
+            // while landed always leak off target attitude to current attitude
             if (ap.land_complete) {
                 virtual_flybar(target_roll, target_pitch, target_yaw, 3.0f, 3.0f);
+            // while flying use acro balance parameters for leak rate
             } else {
                 virtual_flybar(target_roll, target_pitch, target_yaw, g.acro_balance_pitch, g.acro_balance_roll);
             }
@@ -127,16 +130,16 @@ void Copter::ModeAcro_Heli::virtual_flybar( float &roll_out, float &pitch_out, f
     // get attitude targets
     const Vector3f att_target = attitude_control->get_att_target_euler_cd();
 
-    // Calculate Heli mode earth frame rate command for roll
+    // Calculate earth frame rate command for roll leak to current attitude
     rate_ef_level.x = -wrap_180_cd(att_target.x - ahrs.roll_sensor) * roll_leak;
 
-    // Calculate Heli  mode earth frame rate command for pitch
+    // Calculate earth frame rate command for pitch leak to current attitude
     rate_ef_level.y = -wrap_180_cd(att_target.y - ahrs.pitch_sensor) * pitch_leak;
 
     // Calculate earth frame rate command for yaw
     rate_ef_level.z = 0;
 
-    // convert earth-frame level rates to body-frame level rates
+    // convert earth-frame leak rates to body-frame leak rates
     attitude_control->euler_rate_to_ang_vel(attitude_control->get_att_target_euler_cd()*radians(0.01f), rate_ef_level, rate_bf_level);
 
     // combine earth frame rate corrections with rate requests