AC_PID: Fix before squash

libraries/AC_PID/AC_PID_2D.cpp

@@ -72,7 +72,7 @@ AC_PID_2D::AC_PID_2D(float initial_kP, float initial_kI, float initial_kD, float
 //  update_all - set target and measured inputs to PID controller and calculate outputs
 //  target and error are filtered
 //  the derivative is then calculated and filtered
-//  the integral is then updated based on the setting of the limit flag
+//  the integral is then updated if it does not increase in the direction of the limit vector
 Vector2f AC_PID_2D::update_all(const Vector2f &target, const Vector2f &measurement, const Vector2f &limit)
 {
     // don't process inf or NaN
@@ -128,7 +128,7 @@ Vector2f AC_PID_2D::update_all(const Vector3f &target, const Vector3f &measureme
 
 //  update_i - update the integral
 //  If the limit is set the integral is only allowed to reduce in the direction of the limit
-void AC_PID_2D::update_i( const Vector2f &limit)
+void AC_PID_2D::update_i(const Vector2f &limit)
 {
     Vector2f limit_direction = limit;
     Vector2f delta_integrator = (_error * _ki) * _dt;

libraries/AC_PID/AC_PID_2D.h

@@ -23,7 +23,7 @@ public:
     // update_all - set target and measured inputs to PID controller and calculate outputs
     // target and error are filtered
     // the derivative is then calculated and filtered
-    // the integral is then updated based on the setting of the limit flag
+    //  the integral is then updated if it does not increase in the direction of the limit vector
     Vector2f update_all(const Vector2f &target, const Vector2f &measurement, const Vector2f &limit);
     Vector2f update_all(const Vector3f &target, const Vector3f &measurement, const Vector3f &limit);
 

libraries/AC_PID/AC_P_1D.cpp

@@ -74,7 +74,7 @@ void AC_P_1D::set_limits(float output_min, float output_max, float D_Out_max, fl
     }
 }
 
-// set_error_limits - reduce maximum position error to error_max
+// set_error_limits - reduce maximum error to error_max
 // to be called after setting limits
 void AC_P_1D::set_error_limits(float error_min, float error_max)
 {

libraries/AC_PID/AC_P_2D.cpp

@@ -22,7 +22,8 @@ AC_P_2D::AC_P_2D(float initial_p, float dt) :
     _kp = initial_p;
 }
 
-//  set target and measured inputs to P controller and calculate outputs
+// update_all - set target and measured inputs to P controller and calculate outputs
+// limit is set true if the target has been moved to limit the maximum position error
 Vector2f AC_P_2D::update_all(float &target_x, float &target_y, const Vector2f &measurement, bool &limit)
 {
     limit = false;