From 8f667b3d1c13be51fefc3f443ff2040e65ff3485 Mon Sep 17 00:00:00 2001 From: Jonathan Challinger Date: Thu, 16 Apr 2015 12:50:53 -0700 Subject: [PATCH] AC_PosControl: fix up comments --- libraries/AC_AttitudeControl/AC_PosControl.h | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h index b2ae7d49e0..90079bd70e 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.h +++ b/libraries/AC_AttitudeControl/AC_PosControl.h @@ -36,12 +36,12 @@ #define POSCONTROL_DT_10HZ 0.10f // time difference in seconds for 10hz update rate #define POSCONTROL_DT_50HZ 0.02f // time difference in seconds for 50hz update rate -#define POSCONTROL_ACTIVE_TIMEOUT_MS 200 // position controller is considered active if it has been called within the past 0.2 seconds +#define POSCONTROL_ACTIVE_TIMEOUT_MS 200 // position controller is considered active if it has been called within the past 0.2 seconds -#define POSCONTROL_VEL_ERROR_CUTOFF_FREQ 4.0f // 4hz low-pass filter on velocity error -#define POSCONTROL_THROTTLE_CUTOFF_FREQ 2.0f // 2hz low-pass filter on accel error -#define POSCONTROL_JERK_LIMIT_CMSSS 1700.0f // 17m/s/s/s jerk limit on horizontal acceleration -#define POSCONTROL_ACCEL_FILTER_HZ 2.0f // 5hz low-pass filter on acceleration +#define POSCONTROL_VEL_ERROR_CUTOFF_FREQ 4.0f // low-pass filter on velocity error (unit: hz) +#define POSCONTROL_THROTTLE_CUTOFF_FREQ 2.0f // low-pass filter on accel error (unit: hz) +#define POSCONTROL_JERK_LIMIT_CMSSS 1700.0f // jerk limit on horizontal acceleration (unit: m/s/s/s) +#define POSCONTROL_ACCEL_FILTER_HZ 2.0f // low-pass filter on acceleration (unit: hz) #define POSCONTROL_JERK_RATIO 1.0f // Defines the time it takes to reach the requested acceleration class AC_PosControl