From 62e3c6a6a992b9c0a8981f2cc89fe7dc09e75403 Mon Sep 17 00:00:00 2001 From: Tatsuya Yamaguchi Date: Thu, 22 Aug 2024 17:09:04 +0900 Subject: [PATCH] AC_AttitudeControl: update comment to reflect the current logic in is_active_xy() --- libraries/AC_AttitudeControl/AC_PosControl.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp index 3e3ce4c4f1805..452680bdc1a07 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.cpp +++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp @@ -611,7 +611,7 @@ void AC_PosControl::stop_vel_xy_stabilisation() _pid_vel_xy.reset_I(); } -// is_active_xy - returns true if the xy position controller has bee n run in the previous 5 loop times +// is_active_xy - returns true if the xy position controller has been run in the previous loop bool AC_PosControl::is_active_xy() const { const uint32_t dt_ticks = AP::scheduler().ticks32() - _last_update_xy_ticks; @@ -942,7 +942,7 @@ void AC_PosControl::update_pos_offset_z(float pos_offset_z) _jerk_max_z_cmsss, _dt, false); } -// is_active_z - returns true if the z position controller has been run in the previous 5 loop times +// is_active_z - returns true if the z position controller has been run in the previous loop bool AC_PosControl::is_active_z() const { const uint32_t dt_ticks = AP::scheduler().ticks32() - _last_update_z_ticks;